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Revision of Prior Period Financial Statements - Schedule of Revised Consolidated Statements of Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss	$ (9,651)	$ (4,677)	$ (20,437)	$ (9,065)	$ (17,300)	$ (18,293)	$ (10,725)	$ (8,250)	$ (43,830)	$ (54,568)	$ (50,378)
Net change in unrealized gains (losses) on available-for-sale securities									(71)	98	49
Comprehensive loss									$ (43,901)	$ (54,470)	(50,329)
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss							(11,467)	(8,019)			(48,280)
Net change in unrealized gains (losses) on available-for-sale securities											24
Comprehensive loss											(48,256)
Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss							$ 742	$ (231)			(2,098)
Net change in unrealized gains (losses) on available-for-sale securities											25
Comprehensive loss											$ (2,073)

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