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Summary of Significant Accounting Policies - Reconciliation of Liabilities (Details) - Fair value, inputs, level 3 - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]    
Beginning balance $ 266 $ 2,600
Settlement of milestone #2   (2,889)
Change in fair value measurement and milestone #2   289
Straight line recognition of liability classified equity award 371 173
Change in fair value measurement of liability classified equity award 1,031 93
Ending balance $ 1,668 $ 266