Balance Sheet Accounts and Supplemental Disclosures - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Balance Sheets Accounts And Supplemental Disclosures [Abstract]
Accrued compensation	$ 8,695	$ 12,194
Operating lease liabilities, current	$ 3,403	$ 3,633
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Total accrued expenses	Total accrued expenses
Accrued professional service fees	$ 2,074	$ 2,823
Accrued interest, current	1,058	1,094
Accrued other	621	742
Accrued in process research and development	30	225
Total accrued expenses	$ 15,881	$ 20,711