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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Income Tax Contingency [Line Items] |  |  |
Unrecognized tax benefits, interest or penalties recognized | $ 0 | $ 0 | $ 0
Unrecognized tax benefits that, if recognized, would affect the effective tax rate | 1,932 | $ 1,889 | $ 1,294
Research and Development Credit | California |  |  |
Income Tax Contingency [Line Items] |  |  |
Research and development credits carryforwards | 3,913 |  |
Federal |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | 55,990 |  |
Net operating loss carryforwards, indefinite life | $ 48,194 |  |
Net operating loss carryforwards expiration, beginning year | 2033 |  |
Research and development credits carryforwards expiration, beginning year | 2022 |  |
Federal | Research and Development Credit |  |  |
Income Tax Contingency [Line Items] |  |  |
Research and development credits carryforwards | $ 4,050 |  |
State |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | $ 25,871 |  |
Net operating loss carryforwards expiration, beginning year | 2028 |  |

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