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Additional Balance Sheet Information - Schedule of Accrued Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Disclosure Text Block Supplement [Abstract]    
Research and development services $ 2,404 $ 2,543
Employee compensation 1,430 1,761
Legal and professional fees 880 515
Accrued other 351 466
Accrued Liabilities $ 5,065 $ 5,285