Organization and Summary of Significant Accounting Policies - Recent Accounting Pronouncements (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Jun. 30, 2016
Recent Accounting Pronouncement
Accumulated deficit	$ (293,998)	$ (331,951)
Grant Proceeds Under Cares Act	24,000
Deferred Payroll Taxes Under Cares Act	$ 11,800
Restatement Adjustments | ASU 2016-02
Recent Accounting Pronouncement
Accumulated deficit		$ 1,500
Restatement Adjustments | ASU 2016-13
Recent Accounting Pronouncement
Accumulated deficit			$ 200