Annual report pursuant to Section 13 and 15(d)

Income Taxes - Additional Information (Details)

v3.20.4
Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Contingency [Line Items]      
Unrecognized tax benefits, interest or penalties recognized $ 0 $ 0 $ 0
Unrecognized tax benefits that, if recognized, would affect the effective tax rate 1,932 $ 1,889 $ 1,294
Research and Development Credit | California      
Income Tax Contingency [Line Items]      
Research and development credits carryforwards 3,913    
Federal      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 55,990    
Net operating loss carryforwards, indefinite life $ 48,194    
Net operating loss carryforwards expiration, beginning year 2033    
Research and development credits carryforwards expiration, beginning year 2022    
Federal | Research and Development Credit      
Income Tax Contingency [Line Items]      
Research and development credits carryforwards $ 4,050    
State      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards $ 25,871    
Net operating loss carryforwards expiration, beginning year 2028