Fair Value Measurements - Schedule of Financial Assets Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Available-for-sale securities	$ 118,077	$ 26,568
Available-for-sale securities, long-term	28,833
Fair Value, Measurements
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents	35,231	24,462
Available-for-sale securities	118,077	26,568
Available-for-sale securities, long-term	28,833
Fair Value, Measurements | Quoted Prices in Active Markets for Identical Assets (Level 1)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents	35,231	7,962
Fair Value, Measurements | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents		16,500
Available-for-sale securities	118,077	26,568
Available-for-sale securities, long-term	28,833
Money Market Funds | Fair Value, Measurements
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents	35,231	7,962
Money Market Funds | Fair Value, Measurements | Quoted Prices in Active Markets for Identical Assets (Level 1)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents	35,231	7,962
Commercial paper | Fair Value, Measurements
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents		12,499
Available-for-sale securities	66,280	19,481
Commercial paper | Fair Value, Measurements | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents		12,499
Available-for-sale securities	66,280	19,481
Corporate debt securities | Fair Value, Measurements
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents		4,001
Available-for-sale securities	39,579	1,286
Corporate debt securities | Fair Value, Measurements | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Total cash equivalents		4,001
Available-for-sale securities	39,579	1,286
Agency bonds | Fair Value, Measurements
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Available-for-sale securities	5,212
Available-for-sale securities, long-term	9,952
Agency bonds | Fair Value, Measurements | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Available-for-sale securities	5,212
Available-for-sale securities, long-term	9,952
US Treasury securities | Fair Value, Measurements
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Available-for-sale securities	7,006	3,027
Available-for-sale securities, long-term	18,881
US Treasury securities | Fair Value, Measurements | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Available-for-sale securities	7,006	3,027
Available-for-sale securities, long-term	$ 18,881
Certificates of deposit | Fair Value, Measurements
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Available-for-sale securities		2,774
Certificates of deposit | Fair Value, Measurements | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Available-for-sale securities		$ 2,774