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Commitments and Contingencies - Summary of Lease Costs (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Lease expense:    
Operating lease expense $ 50 $ 55
Finance lease expense:    
Depreciation of right-of-use assets 4 32
Interest expense on lease liabilities   2
Total lease expense 54 89
Cash payment information:    
Operating cash used for operating leases 49 51
Financing cash used for financing leases 6 18
Total cash paid for amounts included in the measurement of lease liabilities $ 55 $ 69