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Commitments and Contingencies - Summary of Company's Commitments and Contractual Obligations (Parenthetical) (Details) - USD ($)
$ in Thousands
1 Months Ended 6 Months Ended
Nov. 30, 2015
Jun. 30, 2020
Commitments And Contingencies [Line Items]    
Purchase obligations   $ 6,372
Master Service Agreement    
Commitments And Contingencies [Line Items]    
Initial term of agreement 3 years  
Renewal periods of agreement 1 year  
Purchase obligations $ 6,100  
Office and Laboratory Space | Burlingame, California    
Commitments And Contingencies [Line Items]    
Operating lease expiration year   2023
Second Drug Product Manufacturer | Master Service Agreement    
Commitments And Contingencies [Line Items]    
Purchase obligations $ 300