Property and Equipment - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 6,457	$ 5,650
Less accumulated depreciation	(4,650)	(4,255)
Property and equipment, net	1,807	1,395
Laboratory equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	5,095	4,427
Computer equipment and software
Property, Plant and Equipment [Line Items]
Total property and equipment	734	532
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment	45	38
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment	327	327
Office equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	163	163
Construction in process
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 93	$ 163