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Related Party Transactions - Summary of Expenses Recognized under Consulting Agreement (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Related Party Transaction [Line Items] |  |  |  |
Research and development (including related party amounts of $98, $0, $188 and $8, respectively) | $ 8,539 | $ 1,914 | $ 17,441 | $ 3,352
General and administrative (including related party amounts of $82, $60, $202 and $232, respectively) | 2,798 | 489 | 7,263 | 1,310
Lease Agreement |  |  |  |
Related Party Transaction [Line Items] |  |  |  |
Research and development (including related party amounts of $98, $0, $188 and $8, respectively) | 53 |  | 53 |
General and administrative (including related party amounts of $82, $60, $202 and $232, respectively) | 22 |  | 22 |
Total expenses | 75 |  | 75 |
Research Consulting Agreements |  |  |  |
Related Party Transaction [Line Items] |  |  |  |
Research and development (including related party amounts of $98, $0, $188 and $8, respectively) | 45 |  | 135 |
Total expenses | 45 |  | 135 |
Marlinspike Group, LLC | Consulting Agreements |  |  |  |
Related Party Transaction [Line Items] |  |  |  |
Research and development (including related party amounts of $98, $0, $188 and $8, respectively) |  |  |  | 8
General and administrative (including related party amounts of $82, $60, $202 and $232, respectively) | 60 | 60 | 180 | 232
Total expenses | $ 60 | $ 60 | $ 180 | $ 240

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- Definition The aggregate total of expenses of managing and administering the affairs of an entity, including affiliates of the reporting entity, which are not directly or indirectly associated with the manufacture, sale or creation of a product or product line. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.4) -URI http://asc.fasb.org/extlink&oid=123367319&loc=SL114868664-224227 + Details
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- Definition The aggregate costs incurred (1) in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or (2) to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, including the costs of developing computer software up to the point in time of achieving technological feasibility, and costs allocated in accounting for a business combination to in-process projects deemed to have no alternative future use. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 912 -SubTopic 730 -Section 25 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6472174&loc=d3e58812-109433 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 985 -SubTopic 20 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6501960&loc=d3e128462-111756 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 730 -SubTopic 10 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6420194&loc=d3e21568-108373 + Details
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