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Property and Equipment - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 10,414	$ 10,064
Less accumulated depreciation and amortization	(7,836)	(7,082)
Property and equipment, net	2,578	2,982
Laboratory Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	6,314	5,966
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	3,295	3,294
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	411	447
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	$ 394	$ 357

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Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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