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Income Taxes - Components of Deferred Tax Assets and Valuation Allowance (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Deferred tax assets:      
Net operating loss carryforwards $ 50,272 $ 39,907  
Depreciation and amortization 1,237 318  
Accruals/other 5,332 5,454  
Operating lease liability 1,252 1,516  
Research and development and foreign credits 14,856 8,038  
Total deferred tax assets 72,949 55,233  
Deferred tax liabilities:      
Operating right-of-use asset (1,040) (1,269)  
Total deferred tax liabilities (1,040) (1,269)  
Valuation allowance (71,909) (52,531)  
Net deferred tax assets   1,433  
Valuation allowance      
Increase in valuation allowance $ 19,400 $ 18,500 $ 8,200