Quarterly report pursuant to Section 13 or 15(d)

Long-term Debt - Silicon valley bank term loan (Details)

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Long-term Debt - Silicon valley bank term loan (Details)
1 Months Ended 9 Months Ended
Jul. 05, 2017
USD ($)
Dec. 31, 2020
USD ($)
shares
Sep. 30, 2021
USD ($)
M
$ / shares
shares
Mar. 31, 2020
USD ($)
Feb. 12, 2019
$ / shares
shares
Debt Instrument [Line Items]          
Number of monthly payments 36   36    
Warrants to purchase shares of common stock | shares   1,938,096 14,325,000    
2017 SVB Term Loan          
Debt Instrument [Line Items]          
Face amount of debt $ 5,000,000.0     $ 3,100,000  
Warrants to purchase shares of common stock | shares         28,350
Warrants exercise price | $ / shares         $ 0.24
2020 SVB Term Loan          
Debt Instrument [Line Items]          
Face amount of debt       5,000,000.0  
Interest rate     5.00%    
Warrants to purchase shares of common stock | shares     280,095    
Warrants exercise price | $ / shares     $ 0.40    
Fair value of warrants     $ 100,000    
Debt issuances costs     100,000    
End-of-term charge     $ 100,000    
Repayments of debt   $ 8,000,000.0      
Term Loan A Advance          
Debt Instrument [Line Items]          
Face amount of debt 4,000,000.0        
Term Loan B Advance          
Debt Instrument [Line Items]          
Face amount of debt 1,000,000.0        
Revolving line of credit outstanding          
Debt Instrument [Line Items]          
Face amount of debt $ 1,000,000.0 $ 3,000,000.0   $ 7,000,000.0  
Wall Street Journal Prime Rate | 2017 SVB Term Loan          
Debt Instrument [Line Items]          
Interest rate 1.25%       5.25%
Wall Street Journal Prime Rate | 2020 SVB Term Loan          
Debt Instrument [Line Items]          
Interest rate     0.50%