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Equity Incentive Plans - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 3,219	$ 2,674	$ 6,306	$ 5,622
Research and development
Stock-based Compensation [Line Items]
Stock-based compensation expense	1,087	1,144	2,179	2,202
General and administrative
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 2,132	$ 1,530	$ 4,127	$ 3,420

X

- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

+ References

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-Publisher FASB
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-Topic 718
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