Property and Equipment - Summary of Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 16,062	$ 15,803
Less: accumulated depreciation	(12,626)	(10,192)
Total property and equipment, net	3,436	5,611
Laboratory Equipment [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	7,243	6,965
Office Equipment And Furniture [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	870	889
Leasehold Improvements [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 7,949	$ 7,949