Other Income (Expense), Net - Schedule of Other Income (Expense), Net (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Other Income And Expenses [Abstract]
Interest and other income	$ 74	$ 4	$ 158	$ 10
Interest expense		(148)		(366)
Change in fair value of derivative liability		313		(132)
Change in fair value of grant liability		(108)		(11)
Gain on extinguishment of convertible notes		199		199
Total other income (expense), net	$ 74	$ 260	$ 158	$ (300)