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Commitments and Contingencies - Additional Information (Details) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 USD ($) ft² | Dec. 31, 2019 USD ($) | Dec. 31, 2018 USD ($)
Lessee Lease Description [Line Items] |  |  |
Operating lease, rent expense | $ | $ 3.9 | $ 3.1 | $ 3.2
San Diego, California |  |  |
Lessee Lease Description [Line Items] |  |  |
Area of real estate property | 73,328 |  |
Lease expiration date | Dec. 31, 2025 |  |
Lessee, operating lease, renewal term | 5 years |  |
Lessee, operating lease, existence of option to extend | true |  |
Operating lease cash payments | $ | $ 3.6 |  |
Redwood City, California |  |  |
Lessee Lease Description [Line Items] |  |  |
Area of real estate property | 26,067 |  |
Lease expiration date | 2019-05 |  |
Sublease expiration date | 2019-05 |  |
Jersey City, New Jersey |  |  |
Lessee Lease Description [Line Items] |  |  |
Area of real estate property | 1,898 |  |
Lease expiration date | 2019-12 |  |

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- Definition Indicates (true false) whether lessee has option to extend operating lease. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 842 -SubTopic 20 -Section 50 -Paragraph 3 -Subparagraph (a)(3) -URI http://asc.fasb.org/extlink&oid=121609121&loc=SL77918673-209980 + Details
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