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Commitments and Contingencies - Future Minimum Annual Lease Payments (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Commitments And Contingencies Disclosure [Abstract]    
Remainder of 2021 $ 857  
2022 4,340  
2023 4,546  
2024 4,583  
2025 4,617  
Thereafter 22,614  
Total undiscounted lease payments 41,557  
Less: imputed interest (13,367)  
Operating lease liability 28,190  
Less: current portion of operating lease liability (2,777) $ (885)
Operating lease liability, less current portion $ 25,413 $ 41