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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