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Revision of Prior Period Financial Statements - Schedule of Revised Consolidated Statements of Shareholder's Equity (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
Dec. 31, 2017
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Net change in unrealized gains (losses) on available-for-sale securities                 $ (71) $ 98 $ 49  
Total stockholders’ equity $ 341,612       $ 135,409       341,612 135,409 52,137 $ 79,341
Net loss (9,651) $ (4,677) $ (20,437) $ (9,065) (17,300) $ (18,293) $ (10,725) $ (8,250) (43,830) (54,568) (50,378)  
As Reported                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Net change in unrealized gains (losses) on available-for-sale securities                     24  
Total stockholders’ equity                     54,422  
Net loss             (11,467) (8,019)     (48,280)  
Adjustment                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Net change in unrealized gains (losses) on available-for-sale securities                     25  
Total stockholders’ equity                     (2,285)  
Net loss             $ 742 $ (231)     (2,098)  
Accumulated Other Comprehensive Income (Loss)                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Net change in unrealized gains (losses) on available-for-sale securities                 (71) 98 49  
Total stockholders’ equity 11       82       11 82 (16) (65)
Accumulated Other Comprehensive Income (Loss) | As Reported                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Net change in unrealized gains (losses) on available-for-sale securities                     24  
Total stockholders’ equity                     (41)  
Accumulated Other Comprehensive Income (Loss) | Adjustment                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Net change in unrealized gains (losses) on available-for-sale securities                     25  
Total stockholders’ equity                     25  
Accumulated Deficit                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Total stockholders’ equity $ (304,684)       $ (260,393)       (304,684) (260,393) (205,825) (156,801)
Net loss                 $ (43,830) $ (54,568) (50,378)  
Accumulated Deficit | As Reported                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Total stockholders’ equity                     (203,515) (156,589)
Net loss                     (48,280)  
Accumulated Deficit | Adjustment                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Total stockholders’ equity                     (2,310) $ (212)
Net loss                     $ (2,098)