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Commitments and Contingencies - Summary of Lease Costs (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Lease expense:        
Operating lease expense $ 58 $ 52 $ 166 $ 160
Finance lease expense:        
Depreciation of right-of-use assets   32 7 95
Interest expense on lease liabilities   1   4
Total lease expense 58 85 173 259
Cash payment information:        
Operating cash used for operating leases 56 56 162 155
Financing cash used for financing leases   42 8 93
Total cash paid for amounts included in the measurement of lease liabilities $ 56 $ 98 $ 170 $ 248