Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Payables And Accruals [Abstract]
Accrued compensation and benefits	$ 3,321	$ 6,902
Accrued research and development expenses	1,272	2,393
Accrued professional fees	461	291
Accrued other	369	217
Total accrued expenses and other liabilities	$ 5,423	$ 9,803