Balance Sheet Details - Summary of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Accrued interest expense on deferred royalty obligation, current portion	$ 3,567	$ 2,692
Accrued manufacturing costs	627	1,339
Accrued professional fees	660	387
Accrued clinical costs	20	3,496
Accrued other	1,620	1,398
Total accrued expenses	$ 6,494	$ 9,312