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Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Prepaid Expense And Other Assets Current [Abstract]
Contract research and development costs	$ 3,792	$ 1,620
Prepaid insurance costs	1,166	1,642
Research and development tax credit receivable	868	1,808
Value-added tax refund receivable	310	401
Other	432	242
Total prepaid expenses and other current assets	$ 6,568	$ 5,713

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Amount of asset related to consideration paid in advance for other costs that provide economic benefits within a future period of one year or the normal operating cycle, if longer.

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Carrying amount as of the balance sheet date of value added taxes due either from customers arising from sales on credit terms, or as previously overpaid to tax authorities. For classified balance sheets, represents the current amount receivable, that is amounts expected to be collected within one year or the normal operating cycle, if longer.

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