Accrued Liabilities and Other Long-Term Liabilities - Summary of Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Accrued Liabilities And Other Liabilities [Abstract]
Accrued compensation and benefits	$ 4,542	$ 2,971
Accrued research and development expenses	3,274	2,624
Other accrued liabilities	1,675	1,263
Deferred rent/leasehold incentive obligation-current	85	64
Total accrued liabilities	$ 9,576	$ 6,922