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Commitments and Contingencies - Schedule of Operating Lease Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Jan. 01, 2020
[1]
Commitments And Contingencies Disclosure [Abstract]    
2021 $ 3,834  
2022 2,987  
2023 3,077  
2024 3,169  
Thereafter 7,197  
Total undiscounted lease payments 20,264  
Less: imputed interest (4,822)  
Operating lease liabilities $ 15,442 $ 2,251
[1] Represents recognition of operating lease liabilities