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Certain Balance Sheet Accounts - Property and Equipment, Net (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Property, Plant and Equipment [Line Items]          
Total cost $ 10,298   $ 10,298   $ 10,198
Less accumulated depreciation and amortization (8,391)   (8,391)   (7,647)
Total property and equipment, net 1,907   1,907   2,551
Depreciation and amortization 400 $ 400 745 $ 814  
Finance leases          
Property, Plant and Equipment [Line Items]          
Total cost 5,690   5,690   5,690
Laboratory equipment          
Property, Plant and Equipment [Line Items]          
Total cost 2,998   2,998   2,898
Computer equipment          
Property, Plant and Equipment [Line Items]          
Total cost 985   985   985
Office equipment and furniture          
Property, Plant and Equipment [Line Items]          
Total cost $ 625   $ 625   $ 625