Commitment and Contingencies - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Commitments and Contingencies Disclosure [Abstract]
Commitment to acquire equipment and services	$ 7,400
Reimbursement received from government agency	6,200
Amount purchased	6,700
Remaining accounts payable to vendors	1,000
Rent expense	892	$ 897
Rental income from noncancelable sublease	182	$ 182
Future minimum rental payments to be received under sublease	$ 31