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Commitments and Contingencies (Details) $ in Thousands | 6 Months Ended |  |
--- | --- | --- | ---
Jun. 30, 2021 USD ($) Leases | Jun. 30, 2020 USD ($) | Dec. 31, 2020 USD ($) | Feb. 28, 2019 ft²
Lessee, Lease, Description [Line Items] |  |  |  |
Operating lease term | 3 years |  |  | 5 years
Number of non-cancelable operating lease | Leases | 2 |  |  |
Right-of-use assets | $ 3,673 |  | $ 1,877 |
Operating Lease, Liability | $ 4,158 |  |  |
Area of leased property | ft² |  |  |  | 9,780
Remaining lease term | 2 years 8 months |  |  |
Ann Arbor Michigan |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |
Right-of-use assets | $ 2,070 |  |  |
Operating Lease, Liability | $ 2,070 |  |  |
Ann Arbor Michigan | Office Space Lease Two |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |
Operating Lease Expiry Month Year | 2024-06 |  |  |
Ann Arbor Michigan | Office Space Lease One |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |
Operating Lease Expiry Month Year | 2024-03 |  |  |
South San Francisco California |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |
Right-of-use assets | $ 1,603 |  | 1,877 |
Operating Lease, Liability | 2,088 |  | $ 2,439 |
Operating lease Rent expense | $ 322 | $ 330 |  |

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