Income Taxes - Summary of Components of Deferred Income Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Net operating loss carryforwards	$ 20,866	$ 7,604
Operating lease liabilities	2,244	2,747
Non-qualified stock compensation	1,326
R&D tax credits	2,215	753
Other	910	183
Total deferred tax assets	27,561	11,287
Valuation allowance	(24,555)	(6,799)
Net deferred tax asset (liability)	3,006	4,488
Deferred tax liabilities:
Operating lease right-of-use assets	(2,244)	(2,747)
Restricted stock compensation	(629)	(1,650)
Depreciation	(65)	(75)
Other	(68)	(16)
Total deferred tax liabilities	$ (3,006)	$ (4,488)