Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 9,229	$ 8,917
Less: Accumulated depreciation and amortization	(4,218)	(3,844)
Property and equipment, net	5,011	5,073
Machinery and Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	5,259	4,911
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	2,527	2,527
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	464	473
Office Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	101	101
Computer Equipment and Software
Property Plant And Equipment [Line Items]
Total property and equipment	366	366
Construction in Progress
Property Plant And Equipment [Line Items]
Total property and equipment	$ 512	$ 539