Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 19,619	$ 16,972
Less: accumulated depreciation and amortization	(8,740)	(8,070)
Property and equipment, net	10,879	8,902
Laboratory Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	10,563	9,978
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property and equipment, gross	7,183	3,387
Computer Equipment and Software
Property Plant And Equipment [Line Items]
Property and equipment, gross	1,812	1,578
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 61	48
Construction in Progress
Property Plant And Equipment [Line Items]
Property and equipment, gross		$ 1,981

Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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