Property and Equipment, Net - 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, gross	$ 6,683	$ 6,466
Less accumulated depreciation	(4,714)	(4,485)
Total property and equipment, net	1,969	1,981
Lab Equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	4,612	4,396
Leasehold Improvements
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	1,710	1,710
Computer Hardware and Software
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	220	220
Furniture and Fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 141	$ 140