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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]    
Valuation allowances recognized in the current year $ 26,400,000 $ 9,200,000
Employer payroll taxes deferred, CARES Act 1,400,000  
Income tax benefit recognized related to uncertain tax positions   0
Interest expense related to uncertain tax positions 0 0
Liability related to unrecognized tax benefits 0 $ 0
Domestic Tax Authority    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards 429,300,000  
Operating loss carryforwards, not subject to expiration 81,500,000  
Research and development tax credit carryforwards 12,800,000  
California Franchise Tax Board    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards 55,000,000.0  
Research and development tax credit carryforwards 14,000,000.0  
Foreign Tax Authority    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards $ 46,700,000