| Fair Value Measurement (Tables)
 | 9 Months Ended | 
| Sep. 30, 2021 | 
|---|
| Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  | 
| Summary of Assets and Liabilities Measured at Fair Value on Recurring Basis | The following tables present the Company’s fair value hierarchy for its financial instruments that are measured at fair value on a recurring basis: 
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  
|   |    |  |   |  
|   |    |  |   |    |  |   |    |  |   |    |  |   |  
|  |    |  |  |  |    |  |  |  |    |  |  |  |    |  |  |  |  
|  |    | $ | —   |   |    | $ | 22,582 |   |    | $ | —   |   |    | $ | 22,582 |   |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |    |  |  |   |  
|  |    |  |  |  |    |  |  |  |    |  |  |  |    |  |  |  |  
|  |    | $ | 19,550 |   |    | $ | —   |   |    | $ | —   |   |    | $ | 19,550 |   |  
| Private Placement warrants |    |   | —   |   |    |   | 11,220 |   |    |   | —   |   |    |   | 11,220 |   |  
| Contingent Earnout liability |    |   | —   |   |    |   | —   |   |    |   | 80,417 |   |    |   | 80,417 |   |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |    |  |  |   |  
|  |    | $ | 19,550 |   |    | $ | 11,220 |   |    | $ | 80,417 |   |    | $ | 111,187 |   |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |    |  |  |   |  
|  |  |  
|   |    |  |   |  
|   |    |  |   |    |  |   |    |  |   |    |  |   |  
|  |    |  |  |  |    |  |  |  |    |  |  |  |    |  |  |  |  
| EIB warrants |    | $ | —   |   |    | $ | —   |   |    | $ | 4,007 |   |    | $ | 4,007 |   |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |    |  |  |   |  | 
| Summary of Warrants Classified as Equity That Are Measured at Fair Value on Nonrecurring Basis | The following tables present the Company’s fair value hierarchy for its warrants classified as equity that are measured at fair value on a nonrecurring basis: 
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  
|   |    |  |   |  
|   |    |  |   |    |  |   |    |  |   |    |  |   |  
|  |    |  |  |  |    |  |  |  |    |  |  |  |    |  |  |  |  
|  |    | $ | —   |   |    | $ | —   |   |    | $ | 970 |   |    | $ | 970 |   |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |    |  |  |   |  
|  |  |  
|   |    |  |   |  
|   |    |  |   |    |  |   |    |  |   |    |  |   |  
|  |    |  |  |  |    |  |  |  |    |  |  |  |    |  |  |  |  
|  |    | $ | —   |   |    | $ | —   |   |    | $ | 970 |   |    | $ | 970 |   |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |    |  |  |   |  | 
| Summary of Change in Fair Value of The Warrant Liabilities | 
The following table presents a summary of the changes in the fair value of the Company’s Level 3 financial instruments that are measured at fair value on a recurring  
|  |  |  |  |  |  |  |  |  |  |  |  |  |  
|   |    | ContingentEarnout
 Liability
 |   |    | ContingentInterest
 Embedded
 Derivative
 |   |    |  |   |  
|  |  |  |  |  |  |  |  |  |  |  |  |  |  
| Fair value at December 31, 2019 |    | $ | —   |   |    | $ | —   |   |    | $ | 197 |   |  
| Issuance of warrants to EIB |    |   | —   |   |    |   | —   |   |    |   | 1,806 |   |  
| Fair value at September 30, 2020 |    | $ | —   |   |    | $ | —   |   |    | $ | 2,003 |   |  
|  |  |  |  |  |  |  |  |  |  |  |  |  |  
|  |  |  |  |  |  |  |  |  |  |  |  |  |  
| Fair value at December 31, 2020 |    | $ | —    |   |    | $ | —    |   |    | $ | 4,007 |   |  
| Issuance of warrants to Silicon Valley Bank |    |   | —    |   |    |   | —    |   |    |   | 308 |   |  
| Conversion of Silicon Valley Bank warrants to common stock |    |   | —    |   |    |   | —    |   |    |   | (308 | )  |  
| Exercise of series C preferred warrants |    |   | —    |   |    |   | —    |   |    |   | (891 | )  |  
| Contingent interest embedded derivative recognized relating to the FP Term Loan agreement |    |   | —    |   |    |   | 8,922 |   |    |   | —    |   |  
| Contingent interest embedded derivative derecognized upon the execution of the FP Amendment
 |    |   | —    |   |    |   | (8,922 | )  |    |   | —    |   |  
| Contingent earnout liability recognized upon the closing of the reverse recapitalization
 |    |   | 58,275   |   |    |   | —    |   |    |   | —    |   |  
| Change in fair value of contingent earnout liability |  |  | 22,142 |  |  |  | — |  |  |  | — |  |  
| Change in fair value included in other income (expense), net |    |   | — |   |    |   | —    |   |    |   | 19,466 |   |  
| Transferred to Level 2 upon the closing of the reverse recapitalization |    |   | —    |   |    |   | —    |   |    |   | (22,582 | )  |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |  
| Fair value at September 30, 2021 |    | $ | 80,417 |   |    | $ | —    |   |    | $ | —    |   |  
|  |    |  |  |   |    |  |  |   |    |  |  |   |  | 
| Private Warrants [Member] |  | 
| Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  | 
| Schedule of Quantitative Information Regarding Warrant Liability | The table below quantifies the significant inputs used for the Private Warrants: 
|  |  |  |  |  |  |  |  |  |  
|   |    |  |   |   |  |   |  
| Fair value of the Company’s common stock |    | $ | 12.53 |   |   | $ | 9.93 |   |  
|  |    | $ | 11.50 |   |   | $ | 11.50 |   |  
|  |    |   | 0.98 | %  |   |   | 0.75 | %  |  
| Expected volatility factor |    |   | 6.0 | %  |   |   | 22.0 | %  |  
|  |    |   | —   |   |   |   | —   |   |  
| Remaining contractual term (in years) |    |   | 4.88 |   |   |   | 5.00 |   |  | 
| E I B warrants [Member] |  | 
| Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  | 
| Schedule of Quantitative Information Regarding Warrant Liability | The table below quantifies the inputs used for the EIB warrants:    
|  |  |  |  |  |  |  |  |  |  
|   |    |  |   |   |  |   |  
| Fair value of the Company’s common stock |  | $ | 14.55 |  |  | $ | 4.19 |  |  
| Exercise price |  | $ | 0.0001 |  |  | $ | 0.0001 |  |  
|  |  |  | 0.98 | % |  |  | 0.13 | % |  
| Expected volatility factor |  |  | 70.0 | % |  |  | 68.4 | % |  
|  |  |  | — |  |  |  | — |  |  
| Remaining contractual term (in years) |  |  | 3.9 |  |  |  | 4.7 |  |  | 
| Contingent Earnoutliability Member [Member] |  | 
| Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  | 
| Schedule of Quantitative Information Regarding Warrant Liability | The table below quantifies the significant inputs used for the Contingent Earnout Liability: 
|  |  |  |  |  |  |  |  |  |  
|   |    |  |   |   |  |   |  
| Fair value of the Company’s common stock |    | $ | 12.53 |   |   | $ | 9.93 |   |  
|  |    |   | 0.98 | %  |   |   | 0.75 | %  |  
| Expected volatility factor |    |   | 70.0 | %  |   |   | 70.0 | %  |  
|  |    |   | —   |   |   |   | —   |   |  
| Remaining contractual term (in years) |    |   | 0.004 |   |   |   | 0.004 |   |  |