Supplemental Balance Sheet Information - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Payables And Accruals [Abstract]
Accrued clinical trial costs	$ 3,566	$ 4,012
Accrued personnel costs	1,671	3,208
Accrued professional fees	40	37
Accrued other	37	229
Total accrued expenses and other current liabilities	$ 5,314	$ 7,486