Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 12,230	$ 10,781
Less accumulated depreciation and amortization	(1,732)	(1,431)
Total property and equipment, net	10,498	9,350
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	1,990	1,984
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	480	322
Research Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	5,538	4,892
Computers and Software
Property Plant And Equipment [Line Items]
Total property and equipment	124	124
Construction in Progress
Property Plant And Equipment [Line Items]
Total property and equipment	$ 4,098	$ 3,459