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Convertible Preferred Stock and Preferred Stock Warrants- Shares Authorized & Issuance (Details) $ / shares in Units, $ in Millions |  |  |  |  |  |  |  | 3 Months Ended | 9 Months Ended | 12 Months Ended | 18 Months Ended |  |
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Sep. 09, 2019 USD ($) shares | Jun. 26, 2019 USD ($) shares | Feb. 20, 2019 USD ($) $ / shares shares | Mar. 12, 2018 USD ($) $ / shares shares | Feb. 07, 2017 USD ($) item $ / shares shares | Jan. 13, 2017 USD ($) $ / shares shares | Nov. 17, 2016 USD ($) $ / shares shares | Sep. 30, 2019 shares | Jun. 30, 2019 shares | Mar. 31, 2019 shares | Sep. 30, 2019 USD ($) | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2018 USD ($) $ / shares shares | Dec. 31, 2016 USD ($) $ / shares shares | Jul. 02, 2020 USD ($) | Sep. 30, 2020 $ / shares shares | Apr. 08, 2019 USD ($) $ / shares shares
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  | $ 0.00001 | $ 0.00001 |  |  | $ 0.00001 |
Convertible preferred stock, authorized (shares) |  |  |  |  |  |  |  |  |  |  |  | 31,557,107 | 24,449,177 |  |  | 0 |
Shares issued (in shares) |  |  |  |  |  |  |  | 2,961,636 | 4,146,294 | 3,622 |  |  |  |  |  |  |
Total consideration | $ |  |  |  |  |  |  |  |  |  |  | $ 299.4 | $ 299.4 | $ 119.8 |  |  |  |
Number of days following the initial closing, the company has the right to raise additional capital |  |  |  |  | 90 days |  |  |  |  |  |  |  |  |  |  |  |
Additional capital that the company has right to raise | $ |  |  |  |  | $ 1.0 |  |  |  |  |  |  |  |  |  |  |  |
Total issuance expenses | $ |  |  |  |  |  |  |  |  |  |  |  | $ 0.6 | $ 0.2 |  | $ 32.4 |  |
Series B Preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, authorized (shares) |  |  |  |  |  |  |  |  |  |  |  | 4,511,417 | 4,511,417 |  |  |  |
Series C Preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  | $ 0.00001 | $ 0.00001 |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, authorized (shares) |  |  |  |  |  |  |  |  |  |  |  | 8,703,846 | 8,703,846 |  |  |  |
Shares issued (in shares) |  |  | 3,622 | 8,700,224 |  |  |  |  |  |  |  | 3,622 | 8,700,224 |  |  |  |
Price per share (in dollars per share) | $ / shares |  |  | $ 13.80307 | $ 13.80307 |  |  |  |  |  |  |  |  |  |  |  |  |
Total consideration | $ |  |  | $ 0.1 | $ 120.1 |  |  |  |  |  |  |  |  |  |  |  |  |
Series D Preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.00001
Convertible preferred stock, authorized (shares) |  |  |  |  |  |  |  |  |  |  |  | 7,107,930 |  |  |  |  | 7,107,930
Shares issued (in shares) | 2,961,636 | 4,146,294 |  |  |  |  |  |  |  |  |  | 7,107,930 |  |  |  |  |
Price per share (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 42.20639
Gross proceeds to be received | $ | $ 125.0 | $ 175.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 300.0
Initial Closing | Series B Preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  |  |  |  |  | $ 0.00001 |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  |  |  | 4,379,117 |  |  |  |  |  |  |  |  |  |
Price per share (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 7.5586 |  |  |  |  |  |  |  |  |  |
Total consideration | $ |  |  |  |  |  |  | $ 33.1 |  |  |  |  |  |  |  |  |  |
Deferred Closing | Series B Preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.00001 |  |  |
Convertible preferred stock, authorized (shares) |  |  |  |  | 132,300 |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 59,534 |  |  |
Price per share (in dollars per share) | $ / shares |  |  |  |  | $ 7.5586 |  |  |  |  |  |  |  |  |  |  |  |
Total consideration | $ |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.5 |  |  |
Deferred Closing | Series B Preferred stock | New Investors |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  |  |  |  | $ 0.00001 |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  |  | 66,150 |  |  |  |  |  |  |  |  |  |  |
Total consideration | $ |  |  |  |  | $ 0.1 | $ 0.5 |  |  |  |  |  |  |  |  |  |  |
Number of new investors to whom shares were issued | item |  |  |  |  | 2 |  |  |  |  |  |  |  |  |  |  |  |
Deferred Closing | Series B Preferred stock | Investor, one |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  |  |  | $ 0.00001 |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  | 6,616 |  |  |  |  |  |  |  |  |  |  |  |
Deferred Closing | Series B Preferred stock | Investor, two |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, par value (usd per share) | $ / shares |  |  |  |  | $ 0.00001 |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  | 6,616 |  |  |  |  |  |  |  |  |  |  |  |

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