Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Payables And Accruals [Abstract]
Accrued compensation and benefits	$ 5,254	$ 6,902
Accrued research and development expenses	1,858	2,393
Accrued professional fees	397	291
Accrued other	180	217
Total accrued expenses and other liabilities	$ 7,689	$ 9,803