Property and Equipment - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Depreciation expense	$ 600	$ 400	$ 1,000	$ 800
Property and equipment right of use assets under finance leases with cost basis	15,294		15,294		$ 12,988
Amortization expense related to right-of-use assets	193	$ 195	371	$ 356
Lab and Office Equipment Under Finance Right of Use Asset
Property Plant And Equipment [Line Items]
Property and equipment right of use assets under finance leases with cost basis	4,003		4,003		2,771
Accumulated amortization	$ 1,500		$ 1,500		$ 1,200