Income Taxes - Summary of 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
Unrecognized benefit—beginning of year	$ 2,159	$ 1,663
Gross decreases—prior year tax positions	0	(127)
Gross increases—current year tax positions	946	623
Unrecognized benefit—end of year	$ 3,105	$ 2,159