Equity Incentive Plans - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 2,262	$ 2,527	$ 8,568	$ 8,149
Research and development
Stock-based Compensation [Line Items]
Stock-based compensation expense	730	963	2,909	3,165
General and administrative
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 1,532	$ 1,564	$ 5,659	$ 4,984

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
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-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section S99
-Paragraph 1
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-URI http://asc.fasb.org/extlink&oid=122041274&loc=d3e301413-122809

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
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-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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