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Supplemental Financial Statement Information- Schedule of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020	Mar. 31, 2020	Dec. 31, 2019
Balance Sheet Related Disclosures [Abstract]
Cash	$ 72,326	$ 39,552
Cash equivalents	19,924	4,207
Cash and cash equivalents	92,250	43,759
Restricted cash	3,354	3,354
Total cash, cash equivalents and restricted cash	$ 95,604	$ 47,113	$ 187,520	$ 26,820

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