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Leases - Additional Information (Details) - USD ($)
$ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
May 31, 2020
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Lessee Lease Description [Line Items]          
Rent expense   $ 0.5 $ 0.4 $ 1.4 $ 0.8
Cash paid for operating leases   $ 0.4 $ 0.4 $ 1.3 $ 0.8
Weighted-average discount rate   10.00%   10.00%  
Operating lease not yet commenced minimum lease payments   $ 4.5   $ 4.5  
Corporate Office and Laboratory Space          
Lessee Lease Description [Line Items]          
Weighted-average remaining lease term   8 years 3 months 18 days   8 years 3 months 18 days  
Vivarium          
Lessee Lease Description [Line Items]          
Weighted-average remaining lease term   6 months   6 months  
Office And Laboratory Facilities          
Lessee Lease Description [Line Items]          
Lease term 8 years        
Lease expiration year 2029        
Operating lease, existence of option to extend true        
Lessee option to extend description       The lease amendment also includes an extension of the lease term for the existing office and laboratory space beginning on May 1, 2020 through the first quarter of 2029. The lease agreement includes an option to extend the lease for an additional seven-year term.