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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