Fair Value Measurements - Schedule of Activity of Major Classes of Assets Measured at Fair Value Using Level 3 Inputs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Beginning balance	$ 0	$ (6,300)
Cash paid upon achievement of milestone	0	6,300
Ending balance	$ 0	$ 0