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Commitments and Contingencies - Textual (Details)
1 Months Ended 3 Months Ended
Jun. 30, 2017
USD ($)
Apr. 30, 2017
USD ($)
Feb. 28, 2017
USD ($)
Mar. 31, 2021
USD ($)
ft²
reportingUnit
Jun. 30, 2021
USD ($)
ft²
numberOfRenewalOption
Dec. 31, 2020
USD ($)
Apr. 30, 2020
ft²
Jan. 31, 2020
ft²
Commitments and Contingencies [Line Items]                
Area of real estate property (in square feet) | ft²         77,300      
Number of options to extend | numberOfRenewalOption         1      
Asset retirement obligations         $ 200,000 $ 200,000    
Future lease commitment         29,198,000      
Term of contract   3 years 3 years          
Capital lease obligations incurred   $ 300,000 $ 400,000          
Percentage of eligible accounts receivable 80.00%              
Indemnification Agreement                
Commitments and Contingencies [Line Items]                
Loss contingency accrual         0      
Term Loan                
Commitments and Contingencies [Line Items]                
Borrowing capacity $ 10,000,000.0              
Stated interest rate 3.75%              
Basis spread on variable rate (percent) 0.50%              
Revolving Credit Facility                
Commitments and Contingencies [Line Items]                
Borrowing capacity $ 5,000,000.0              
Stated interest rate 4.25%              
Basis spread on variable rate (percent) 1.00%              
Demand Deposits                
Commitments and Contingencies [Line Items]                
Non-current restricted cash         1,100,000 $ 1,100,000    
San Carlos, Califiornia                
Commitments and Contingencies [Line Items]                
Future lease commitment         $ 100,000      
200-220 Penobscot                
Commitments and Contingencies [Line Items]                
Area of real estate property (in square feet) | ft²         28,200      
400 Penobscot                
Commitments and Contingencies [Line Items]                
Area of real estate property (in square feet) | ft²         37,900      
Renewal term         5 years      
501 Chesapeake                
Commitments and Contingencies [Line Items]                
Area of real estate property (in square feet) | ft²         11,200      
Number of options to extend | numberOfRenewalOption         1      
Renewal term         5 years      
101 Saginaw                
Commitments and Contingencies [Line Items]                
Area of real estate property (in square feet) | ft²               29,900
Sublease                
Commitments and Contingencies [Line Items]                
Area of real estate property (in square feet) | ft²             3,400 26,500
San Carlos                
Commitments and Contingencies [Line Items]                
Area of real estate property (in square feet) | ft²       36,593        
Number of options to extend | reportingUnit       1        
Future lease commitment         $ 31,723,000      
Annualized rent       $ 2,500,000        
Annual rent increases (as a percent)       3.00%        
Lease term       10 years        
Renewal term       5 years        
Security deposit       $ 500,000        
San Carlos | Leaseholds and Leasehold Improvements                
Commitments and Contingencies [Line Items]                
Tenant improvement allowance       6,300,000        
San Carlos | Asset under Construction                
Commitments and Contingencies [Line Items]                
Tenant improvement allowance       2,700,000        
Annualized rent       $ 400,000