Quarterly report pursuant to Section 13 or 15(d)

Presentation and Summary of Significant Accounting Policies - Additional Information (Details)

v3.21.1
Presentation and Summary of Significant Accounting Policies - Additional Information (Details)
$ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2021
USD ($)
Customer
Mar. 31, 2020
USD ($)
Customer
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Significant Accounting Policies [Line Items]        
Positive (negative) cash flows from operations $ 6,209 $ 1,503 $ 1,433 $ (30,432)
Net loss 30,567 12,684 47,876 $ 62,078
Accumulated deficit 310,932   280,365  
Net proceeds from sales of common stock from the period     59,771  
Proceeds from issuances of stock under employee stock plans, net 4,254 101    
Net proceeds from sales of common stock   $ 3,505    
Proceeds from the exercise of warrants 2,279      
Cash and cash equivalents 127,459   114,817  
Transaction price remaining performance obligations $ 4,730      
Transaction price remaining performance obligations percentage 74.00%      
Sales Revenue, Net [Member] | Customer Concentration Risk [Member]        
Significant Accounting Policies [Line Items]        
Number of major customers | Customer 1 0    
Concentration risk percentage 10.00% 10.00%    
Equity Distribution Agreement [Member]        
Significant Accounting Policies [Line Items]        
Net proceeds from sales of common stock     $ 5,986