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Commitment and Contingencies - Additional Information (Details) - USD ($) $ in Thousands	1 Months Ended		3 Months Ended	6 Months Ended
	Nov. 30, 2020	Oct. 31, 2019	Jun. 30, 2021	Jun. 30, 2021	Jan. 01, 2021	Mar. 31, 2019
Lessor, Lease, Description [Line Items]
Accrued Liabilities					$ 1,900
Lease liabilities			$ 1,614	$ 1,614
Long-term Debt					600
Operating lease costs			$ 300	700
Cash paid for operating lease				$ 1,000
Weighted average discount rate			8.20%	8.20%
Weighted-average remaining lease term			10 months 9 days	10 months 9 days
ASU No. 2016-02
Lessor, Lease, Description [Line Items]
Lease liabilities					2,500
Right-of-use assets					$ 1,700
South San Francisco, California
Lessor, Lease, Description [Line Items]
Operating lease, renewal term			5 years	5 years
Operating lease expiration date				May 31, 2022
San Diego, California
Lessor, Lease, Description [Line Items]
Operating lease, term of contract						13 months
Extend the lease term	December 2021	May 2021

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