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Income Taxes - Summary of Reconciliation of Income Tax Benefit (Expense) Statutory Tax Rate to Effective Tax Rate (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Income Tax Disclosure [Abstract]    
Income tax benefit computed at statutory rates $ 8,285 $ 13,095
Research and development credits, net of uncertain tax position 815 93
Change in valuation allowance (11,914) (6,520)
Change in Israel effective tax rate due to the 2019 reorganization 647 (734)
Foreign rate differential 1,671  
Revaluation of convertible preferred stock liability   (6,039)
Other 555 (113)
Income tax benefit (expense) $ 59 $ (218)