Income Taxes - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Income Taxes [Line Items]
Increase (decrease) in valuation allowance during the year	$ 1.1	$ 0.9
Percentage of limitation on federal and state net operating loss carryforwards	97.00%
Percentage of limitation on federal tax credit carryforwards	96.00%
Federal
Income Taxes [Line Items]
Net operating loss carryforwards, amount	$ 205.2
Net operating loss carryforwards available before expiration	11.3
Federal | Research and development
Income Taxes [Line Items]
Tax credit carryforwards with expiration	8.7
State
Income Taxes [Line Items]
Net operating loss carryforwards, amount	127.0
Net operating loss carryforwards available before expiration	9.5
State | Research and development
Income Taxes [Line Items]
Tax credit carryforwards without expiration	$ 8.4
Earliest Tax Year
Income Taxes [Line Items]
Net operating loss carryforwards, expiration year	2025
Latest Tax Year
Income Taxes [Line Items]
Net operating loss carryforwards, expiration year	2037