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Income Taxes - Summary of Activity Related to Gross Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]    
Gross unrecognized tax benefits at the beginning of the year $ 2,560 $ 1,809
Increases related to current year positions 871 645
Increases related to prior year positions 0 106
Decreases related to prior year positions (86) 0
Expiration of unrecognized tax benefits 0 0
Gross unrecognized tax benefits at the end of the year $ 3,345 $ 2,560