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Supplemental Balance Sheet Information - Property and Equipment, Net (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Property, Plant and Equipment [Line Items]          
Property and equipment, gross $ 6,192   $ 6,192   $ 5,863
Less: accumulated depreciation (2,090)   (2,090)   (1,740)
Property and equipment, net 4,102   4,102   4,123
Depreciation and amortization 283 $ 187 546 $ 335  
Scientific equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 5,966   5,966   5,476
Leasehold improvements          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 0   0   192
Computers and software          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 52   52   46
Furniture and fixtures          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 30   30   30
Construction in process          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross $ 144   $ 144   $ 119