Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 14,508	$ 2,106
Accrued compensation	3,210	1,766
Accrued professional and consulting fees	1,372	999
Accrued property, plant, and equipment	1,309	173
Accrued clinical trial	959
Other	678	91
Total accrued expenses and other current liabilities	$ 22,036	$ 5,135