Balance Sheet Accounts and Supplemental Disclosures - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 9,097	$ 8,157
Less: accumulated depreciation	3,465	2,623
Property and equipment, net	5,632	5,534
Office equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 1,153	1,153
Office equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	3 years
Office equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	7 years
Computer equipment
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	5 years
Total property and equipment	$ 123	123
Software
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	3 years
Total property and equipment	$ 130	116
Lab equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 5,122	4,210
Lab equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	2 years
Lab equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	5 years
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 2,562	2,540
Leasehold improvements | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	6 years
Leasehold improvements | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	7 years
Construction in process
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 7	$ 15