Consolidated Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Property Plant And Equipment [Line Items]
Total	$ 25,095	$ 20,551
Less: Accumulated depreciation and amortization	(14,288)	(11,221)
Property and equipment, net	10,807	9,330
Scientific Equipment
Property Plant And Equipment [Line Items]
Total	9,902	8,168
Furniture and Equipment
Property Plant And Equipment [Line Items]
Total	1,521	1,165
Capitalized Software
Property Plant And Equipment [Line Items]
Total	225	146
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total	11,111	10,834
Construction in Progress
Property Plant And Equipment [Line Items]
Total	$ 2,336	$ 238