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Property and Equipment - Schedule of Property and Equipment (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 9,902 $ 8,506
Less accumulated depreciation (6,724) (6,386)
Total property and equipment, net 3,178 2,120
Lab Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 5,730 4,221
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 1,845 1,894
Computer Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 871 869
Furniture and Fixtures    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 424 427
Software    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 651 503
Construction in Process    
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 381 $ 592