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Related Party Transactions - Summary of Expenses Recognized under Consulting Agreement (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	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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Total costs of sales and operating expenses for the period.

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-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section S99
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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.

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 912
-SubTopic 730
-Section 25
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