Provision for Income Taxes - Schedule of Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Federal and state net operating loss carryforwards	$ 54,526	$ 30,049
Research and development credits carryforwards	11,209	8,077
Depreciation	9,068	6,052
Deferred Revenue	2,407	3,277
Lease liability	3,831
Other	5,890	2,965
Total deferred tax assets	86,931	50,420
Deferred tax liabilities:
Right-of-use assets	(2,704)
Total deferred tax liabilities	(2,704)
Less valuation allowance	$ (84,227)	$ (50,420)