Balance Sheet Details - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 12,045	$ 7,369
Less: accumulated depreciation and amortization	(5,419)	(4,097)
Property and equipment, net	6,626	3,272
Furniture and Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	1,217	397
Computers and Computer Software
Property Plant And Equipment [Line Items]
Total property and equipment	111	111
Lab Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	8,814	4,739
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 1,903	1,903
Construction in Progress
Property Plant And Equipment [Line Items]
Total property and equipment		$ 219