Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Payables And Accruals [Abstract]
Accrued clinical trial expense	$ 1,310	$ 2,644
Accrued professional fees	3,368	2,866
Accrued settlement liability	5,266
Accrued wages, bonuses, commissions and vacation	4,106	4,991
Accruals for construction in progress	70	171
Deferred rent	4	292
Other	2,978	2,487
Total accrued expenses	$ 17,102	$ 13,451