Leases - Schedule of Components of Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Lessee Lease Description [Line Items]
Finance lease cost	$ 1	$ 3	$ 4	$ 12
Cost of Goods Sold
Lessee Lease Description [Line Items]
Operating lease cost	3	3	10	10
Research and Development
Lessee Lease Description [Line Items]
Operating lease cost	64	47	222	110
Finance lease cost	0	32	0	115
Selling, General and Administrative
Lessee Lease Description [Line Items]
Operating lease cost	402	418	1,205	1,138
Finance lease cost	$ 5	$ 10	$ 20	$ 36