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Preferred Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Jan. 31, 2012
Oct. 31, 2011
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Sep. 30, 2019
Apr. 30, 2011
Class of Stock [Line Items]                
Preferred stock, shares authorized (in shares)             225,000,000  
Preferred stock, par value (in dollars per share)             $ 0.001  
Change in fair value of redeemable convertible preferred stock warrant liability     $ 200 $ 0 $ 327      
Warrant To Purchase Series B Redeemable Preferred Stock                
Class of Stock [Line Items]                
Number of shares subject to purchase from warrant (in shares) 23,760 94,510           59,140
Proceeds from drawdown $ 400 $ 1,600            
Exercise price of warrants (in dollars per share)               $ 0.34
Class B common stock                
Class of Stock [Line Items]                
Number of shares issued from exercise of warrants (in shares)           174,347