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Income Taxes - Additional Information (Details) - USD ($) |  |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Jun. 29, 2020 | Mar. 27, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research |  |  | $ 49,683,000 | $ 42,490,000 |  |
Unrecognized Tax Benefits, Ending Balance |  |  | 7,406,000 | $ 4,784,000 | $ 2,385,000 | $ 120,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total |  |  | 0 |  |  |
Net operating loss carryback period |  | 5 years |  |  |  |
Suspension of taxable income limitation percentage for operating loss carryforward |  | 80.00% |  |  |  |
California Franchise Tax Board | Minimum |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |
Adjusted gross income for disallowance of net operating loss deductions | $ 1,000,000 |  |  |  |  |
California Franchise Tax Board | Maximum |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |
Business credit offset amount | $ 5,000,000 |  |  |  |  |
Domestic Tax Authority |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |
Operating Loss Carryforwards, Total |  |  | 1,000,000,000.0 |  |  |
Expiring Operating Loss Carryforwards |  |  | $ 549,700,000 |  |  |
Net operating loss carryforwards expiration year |  |  | 2021 |  |  |
Indefinite Operating Loss Carryforwards |  |  | $ 492,000,000.0 |  |  |
Taxable income limitation percentage for operating loss carryforward |  |  | 80.00% |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research |  |  | $ 39,400,000 |  |  |
Research and development credit carryforwards expiration year |  |  | 2022 |  |  |
State and Local Jurisdiction |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |
Net operating loss carryforwards expiration year |  |  | 2028 |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research |  |  | $ 18,100,000 |  |  |
Research and development credit carryforwards expiration year |  |  | 2023 |  |  |
State and Local Jurisdiction | California Franchise Tax Board |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |
Operating Loss Carryforwards, Total |  |  | $ 111,900,000 |  |  |
State and Local Jurisdiction | Other State Jurisdiction |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |
Operating Loss Carryforwards, Total |  |  | $ 515,500,000 |  |  |

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