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Income Taxes - Deferred tax assets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets
Net operating loss carryforwards	$ 65,373	$ 55,283
Tax credit carryforwards	9,273	8,030
Capitalized research and development	482	922
Capitalized legal expenses	1,070	1,073
Lease liability	284	639
Other differences	1,648	1,453
Total deferred tax assets	78,130	67,400
Deferred tax liabilities
ROU asset	(262)	(639)
Valuation allowance	(77,868)	(66,761)
Net deferred tax assets	0	0
Increase in valuation allowance	$ 11,100	$ 7,600

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