Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 14,956	$ 14,515
Less: accumulated depreciation	(7,211)	(6,118)
Property and equipment, net	7,745	8,397
Lab Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	7,319	6,877
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	594	594
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	373	373
Software
Property Plant And Equipment [Line Items]
Total property and equipment	199	199
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	6,210	6,210
Construction in Process
Property Plant And Equipment [Line Items]
Total property and equipment	$ 261	$ 262