Commitments and Contingencies - Summary of Operating Lease Cost and Information Related to Operating Right-of-Use Assets and Operating Lease Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Lease cost:
Operating lease cost	$ 416	$ 403
Variable lease cost	133	102
Total	549	505
Operating cash flow impacts:
Cash paid for amounts included in measurement of lease liabilities	$ 587	$ 404
Weighted average remaining lease term - operating leases (in years)	4 years	4 years 9 months 18 days
Weighted average discount rate - operating leases	8.00%	9.10%