The Company and Basis of Presentation - Additional Information (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2021 USD ($) Segment	Dec. 31, 2020 USD ($)
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Number of operating segments | Segment	1
Working capital	$ 119,000
Accumulated deficit	(294,226)	$ (276,008)
Cash, cash equivalents, marketable securities, and restricted cash	$ 128,500