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Commitments and Contingencies - Summary of Lease Costs (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Lease expense:        
Operating lease expense $ 58 $ 53 $ 108 $ 108
Finance lease expense:        
Depreciation of right-of-use assets 3 31 7 63
Interest expense on lease liabilities   1   3
Total lease expense 61 85 115 174
Cash payment information:        
Operating cash used for operating leases 56 48 106 99
Financing cash used for financing leases 3 33 8 51
Total cash paid for amounts included in the measurement of lease liabilities $ 59 $ 81 $ 114 $ 150