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Summary of Significant Accounting Policies - Summary of Fair Value Measurement Financial Asset and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Assets [Abstract]    
Cash and cash equivalents $ 52,000 $ 73,200
Securities 91,400 89,284
Total assets measured at fair value 143,403 162,506
Money market funds    
Assets [Abstract]    
Cash and cash equivalents 49,004 46,149
Government-sponsored enterprises    
Assets [Abstract]    
Securities   13,222
U.S Treasury securities    
Assets [Abstract]    
Securities 60,623  
Corporate debt securities    
Assets [Abstract]    
Securities 33,776 103,135
Quoted Prices in Active Markets for Identical Assets, Level 1    
Assets [Abstract]    
Total assets measured at fair value 49,004 46,149
Quoted Prices in Active Markets for Identical Assets, Level 1 | Money market funds    
Assets [Abstract]    
Cash and cash equivalents 49,004 46,149
Quoted Prices in Active Markets for Identical Assets, Level 1 | Government-sponsored enterprises    
Assets [Abstract]    
Securities   0
Quoted Prices in Active Markets for Identical Assets, Level 1 | U.S Treasury securities    
Assets [Abstract]    
Securities 0  
Quoted Prices in Active Markets for Identical Assets, Level 1 | Corporate debt securities    
Assets [Abstract]    
Securities 0 0
Significant Other Observable Inputs, Level 2    
Assets [Abstract]    
Total assets measured at fair value 94,399 116,357
Significant Other Observable Inputs, Level 2 | Money market funds    
Assets [Abstract]    
Cash and cash equivalents 0 0
Significant Other Observable Inputs, Level 2 | Government-sponsored enterprises    
Assets [Abstract]    
Securities   13,222
Significant Other Observable Inputs, Level 2 | U.S Treasury securities    
Assets [Abstract]    
Securities 60,623  
Significant Other Observable Inputs, Level 2 | Corporate debt securities    
Assets [Abstract]    
Securities 33,776 103,135
Significant Unobservable Inputs, Level 3    
Assets [Abstract]    
Total assets measured at fair value 0 0
Significant Unobservable Inputs, Level 3 | Money market funds    
Assets [Abstract]    
Cash and cash equivalents 0 0
Significant Unobservable Inputs, Level 3 | Government-sponsored enterprises    
Assets [Abstract]    
Securities   0
Significant Unobservable Inputs, Level 3 | U.S Treasury securities    
Assets [Abstract]    
Securities 0  
Significant Unobservable Inputs, Level 3 | Corporate debt securities    
Assets [Abstract]    
Securities $ 0 $ 0