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Supplemental Balance Sheet Information - Property and Equipment, Net (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 6,544		$ 6,544		$ 5,863
Less: accumulated depreciation	(2,373)		(2,373)		(1,740)
Property and equipment, net	4,171		4,171		4,123
Depreciation and amortization	283	$ 159	829	$ 494
Scientific equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	6,136		6,136		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	60		60		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	$ 318		$ 318		$ 119

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