Commitments and Contingencies - Schedule of Gross Future Minimum Annual Rental Commitments (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Commitments and Contingencies Disclosure [Abstract]
2021 (remaining 9 months)	$ 3,213
2022	3,579
2023	2,063
2024	2,123
2025	387
2026	397
Total undiscounted rent payments	11,762
Present value discount	(1,294)
Present value	10,468
Current portion of operating lease liability (included as a component of accrued expenses)	3,518	$ 3,633
Noncurrent operating lease liabilities	6,950	$ 7,713
Total operating lease liability	$ 10,468