Discontinued Operations - Additional Information (Details) $ in Thousands		1 Months Ended			12 Months Ended
	Jun. 30, 2019 USD ($) shares	Jan. 31, 2021 USD ($) shares	Oct. 31, 2020 USD ($) shares	Jun. 30, 2020 USD ($) shares	Dec. 31, 2020 USD ($) ft²
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Amounts due to Nestlé, current—related party					$ 5,675
PLI | Discontinued Operations, Disposed of by Means Other than Sale, Spinoff
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Discontinued operation distribution of interest, percentage					100.00%
Area of Space Leased | ft²					40,000
Term of sublease					1 year
PLI
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Percentage of voting interest acquired	100.00%
Total consideration	$ 31,700
Business acquisition, deferred cash payment	15,000		$ 3,800	$ 5,000
Business acquisition, deferred cash payment due on June 30, 2020	5,000
Business acquisition, deferred cash payment due on June 30, 2021	10,000
Acquisition-related contingent consideration	$ 3,500
Percentage of discount rate on interest component	12.00%
Amounts due to Nestlé, current—related party					$ 5,700
PLI | Series C Convertible Preferred Stock
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Business acquisition, number of shares issued | shares	16,500,000
Business acquisition, number of shares issued with fair value	$ 16,500
Acquisition-related contingent consideration shares | shares	3,500,000
Business acquisition deferred cash payment converted to shares of convertible preferred stock | shares				5,000,000
PLI | Series D Convertible Preferred Stock
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Business acquisition deferred cash payment converted to shares of convertible preferred stock | shares			5,088,851
PLI | Series D-2 Convertible Preferred Stock
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Business acquisition, number of shares issued | shares		7,219,560
Business acquisition, deferred cash payment		$ 6,100
Business acquisition deferred cash payment converted to shares of convertible preferred stock | shares		7,219,560