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Supplemental Balance Sheet Information - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Property Plant And Equipment [Line Items]    
Total property and equipment $ 4,831 $ 4,014
Accumulated depreciation and amortization (2,810) (2,662)
Property & equipment, net 2,021 1,352
Scientific Equipment    
Property Plant And Equipment [Line Items]    
Total property and equipment 3,059 2,617
Furniture and Office Equipment    
Property Plant And Equipment [Line Items]    
Total property and equipment 749 542
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Total property and equipment $ 1,023 $ 855