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Loans Payable - Schedule of Loans Payable Reported at Fair Value and Measured on Recurring Basis (Details) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended
Mar. 31, 2021
May 31, 2020
Dec. 31, 2020
Short Term Debt [Line Items]      
Balance $ 0    
2020 Notes      
Short Term Debt [Line Items]      
Issuance of 2020 Notes and Bridge Loan   $ 15,000  
Conversion of 2020 convertible promissory notes to Series C convertible preferred stock   $ (15,900)  
Recurring | Loans Payable      
Short Term Debt [Line Items]      
Balance     $ 0
Change in fair value of loans payable and other adjustments     3,053
Balance     12,880
Recurring | Loans Payable | 2020 Notes and Bridge Loan      
Short Term Debt [Line Items]      
Issuance of 2020 Notes and Bridge Loan     16,800
Recurring | Loans Payable | Lilly Asia Ventures Option Exercise      
Short Term Debt [Line Items]      
Issuance of repurchase payable for the Lilly Asia Ventures option exercise     10,771
Recurring | Loans Payable | Bridge Loan      
Short Term Debt [Line Items]      
Issuance of loans payable for conversion settlement of the Bridge Loan     2,109
Recurring | Loans Payable | Series C convertible preferred stock | Bridge Loan      
Short Term Debt [Line Items]      
Conversion of 2020 convertible promissory notes to Series C convertible preferred stock     (2,163)
Recurring | Loans Payable | Series C convertible preferred stock | 2020 Notes      
Short Term Debt [Line Items]      
Conversion of 2020 convertible promissory notes to Series C convertible preferred stock     $ (17,690)