Commitments and Contingencies - Additional Information (Details) - USD ($)			3 Months Ended		6 Months Ended
		Feb. 01, 2019	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Oct. 01, 2016
Other Commitments [Line Items]
Claims or payments to agreements					$ 0
Accrual made in consolidated financial statements			$ 0		$ 0
Operating leases, contract term							4 years
Company or sublessee, prior notice period for cancellation of sublease agreement					6 months
Expected annual sublease income		$ 300,000
Lease expenses	[1]		598,000		$ 1,187,000
Short-term lease expense			100,000		200,000
Sublease income			100,000	$ 100,000	200,000	$ 200,000
General and Administrative Expense
Other Commitments [Line Items]
Lease expenses			$ 700,000	$ 700,000	$ 1,500,000	$ 1,400,000

[1] Amounts have not been reduced by sublease income of $0.1 million and $0.2 million, respectively, recognized during the three and six months ended June 30, 2021.