The Company and Basis of Presentation (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accumulated deficit	$ (166,459)		$ (166,459)		$ (145,803)
Net loss	$ (8,293)	$ (3,511)	(20,656)	$ (7,474)
Net cash used in operating activities			$ (14,371)	$ (4,750)