Accrued Expenses and Other Current Liabilities - Schedule of Composition of Accrued Expenses (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued clinical and related costs	$ 2,967	$ 2,753
Accrued compensation and related costs	1,223	2,260
Accrued interest	61	69
Operating lease liability, short-term	468	459
Accrued other	681	390
Accrued expenses and other current liabilities	$ 5,400	$ 5,931