Debt (Tables)
 3 Months Ended
Mar. 31, 2021
Debt Disclosure [Abstract]  
Summary of Future Principal Payments The following table sets forth by year the Company’s required future principal payments as of March 31, 2021 (in thousands):
Years Ending December 31,
2021 (remaining nine months)$4,091 
20225,455 
20231,363 
Thereafter— 
Total principal payments10,909 
Less unamortized loan fees(114)
Total term loan borrowings$10,795