Commitment and Contingencies - Schedule of Operating Lease Costs, Variable Lease Costs and Sub Lease Income (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Commitments And Contingencies Disclosure [Abstract]
Operating lease costs	$ 1,246	$ 1,246
Variable lease costs	1,032	1,029
Sublease income	(470)	(457)
Net lease cost	$ 1,808	$ 1,818