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Balance Sheet Components and Supplemental Disclosures - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Payables And Accruals [Abstract]    
Accrued contract research and development expense $ 4,990 $ 1,866
Accrued compensation and benefits expense 1,608 1,041
Lease liability, current 410 0
Lease incentive obligation, current 0 123
Other current liabilities 90 134
Total $ 7,098 $ 3,164