There is a lot of outdated and incorrect information in that report and video.
3000mA vs 6000mA electrical charge ??
97cc volume capacity ??
What is all that about ?
As I read it, the extra volume was minimal while the energy captured was almost doubled by tweaking both the production process and some of the materials. It isn't just about the form factor.
21700s and 20700s have been available in various forms for a while in portable toolpacks, and even commercial Ebike packs ( Panasonic released in 2015).
The article said 2170 more than once, which was confusing because of the missing zero on the end, but I believe you are correct that the form factor has been out there previously. However, those are NOT the same batteries as Teslas. Tesla is doing something proprietary with their Gigafactory batteries to get that energy density.
Teslas cell will most likely again be a compromise of more capacity, longer cycle life, but without the extreme power ability.
When you have a 100Kwh pack in a car, you don't need tremendous C rates to operate the motor at peak power, so that would make sense. On the other hand, until we get all the numbers reported on their proprietary formulation it may be premature to speculate that they sacrificed power density for greater energy density - they may have managed to get both.