Commitments and Contingencies - Narrative (Details) $ in Millions	1 Months Ended	3 Months Ended		6 Months Ended
	Feb. 28, 2018 USD ($) ft²	Jun. 30, 2021 USD ($)	Jun. 30, 2020 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2020 USD ($)	Dec. 31, 2020 USD ($)
Loss Contingencies [Line Items]
Contractual arrangements cancellation period				30 days
Base rent abated period	2 months
Rent expenses and common area maintenance charges		$ 0.6	$ 0.6	$ 1.2	$ 1.3
California
Loss Contingencies [Line Items]
Leased premises under non cancelable operating lease | ft²	32,974
Lease term	84 months
Base rent abated amount	$ 0.2
Lease term extension period		7 years		7 years
Maximum | California
Loss Contingencies [Line Items]
Lease term extension notice period				12 months
Minimum | California
Loss Contingencies [Line Items]
Lease term extension notice period				9 months
Other Non-current Assets | California
Loss Contingencies [Line Items]
Refundable security deposit		$ 0.4		$ 0.4		$ 0.4