Funding Arrangements - Additional Information (Details) - Grant - USD ($) $ in Millions	1 Months Ended	12 Months Ended
	Jun. 30, 2017	Dec. 31, 2020	Dec. 31, 2019
Research And Development Arrangement Contract To Perform For Others [Line Items]
Research grant, description and terms		In June 2017, the Company was awarded a Small Business Innovation Research (“SBIR”) grant by NIH in the amount of $3.0 million. This grant was effective from September 15, 2017 to March 30, 2020 and in April 2020, the Company received an extension through March 31, 2021.
Research revenue grant awarded	$ 3.0
Grant revenue received		$ 0.9	$ 1.0
Research related income recognized		$ 0.6	$ 0.9