Fair Value Measurements - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Milestone closing liability	$ 6.2
Additional closing liability	$ 5.0
Warrants outstanding	226,191
Increase decrease in estimated fair value of CVR liability	$ 1.9
Estimated fair value of the CVR liability	$ 1.0
Redeemable Convertible Preferred Stock Warrant Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Warrants outstanding	0
Other Income (Expense) [Member]
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Gain from the remeasurement of the redeemable convertible preferred stock		$ 2.0