Consolidated Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Property Plant And Equipment [Line Items]
Total	$ 20,551	$ 18,750
Less: Accumulated depreciation and amortization	(11,221)	(7,643)
Property and equipment, net	9,330	11,107
Scientific Equipment
Property Plant And Equipment [Line Items]
Total	8,168	6,628
Furniture and Equipment
Property Plant And Equipment [Line Items]
Total	1,165	813
Capitalized Software
Property Plant And Equipment [Line Items]
Total	146	146
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total	10,834	10,828
Construction in Progress
Property Plant And Equipment [Line Items]
Total	$ 238	$ 335