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Income Taxes - Summary of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Net operating loss carryforwards	$ 5,087	$ 8,442
Net research and development expenditures	7,478	4,195
Share issuance costs	4,506	78
Net federal investment tax credits	3,181	1,877
U.S. research and development tax credits	961
Tax basis of property and equipment in excess of carrying values	(86)	(204)
Operating lease right-of-use assets	(1,240)	(279)
Operating lease liability	1,063	287
Accrued expense and other liabilities	345	161
Deferred revenue	15,372
Share-based compensation	103
Total deferred tax assets	36,770	14,557
Valuation allowance	(35,358)	(14,425)
Net deferred tax assets	$ 1,412	$ 132

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