Balance Sheet Details - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Property, Plant and Equipment, Gross	$ 7,730	$ 7,172
Less accumulated depreciation and amortization	(3,379)	(3,070)
Total	4,351	4,102
Furniture Fixtures And Office Equipment
Property Plant And Equipment [Line Items]
Property, Plant and Equipment, Gross	$ 1,870	1,719
Furniture Fixtures And Office Equipment | Minimum
Property Plant And Equipment [Line Items]
Property Plant and Equipment Useful Life	3 years
Furniture Fixtures And Office Equipment | Maximum
Property Plant And Equipment [Line Items]
Property Plant and Equipment Useful Life	7 years
Laboratory Equipment
Property Plant And Equipment [Line Items]
Property Plant and Equipment Useful Life	5 years
Property, Plant and Equipment, Gross	$ 2,173	1,790
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property, Plant and Equipment, Gross	$ 3,687	$ 3,663
Leasehold Improvements | Minimum
Property Plant And Equipment [Line Items]
Property Plant and Equipment Useful Life	2 years
Leasehold Improvements | Maximum
Property Plant And Equipment [Line Items]
Property Plant and Equipment Useful Life	3 years