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Stockholders' Deficit - Common Stock Reserved for Future Issuance (Details) - shares | Sep. 30, 2019 | Dec. 31, 2018
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Class of Stock [Line Items] |  |
Total common stock reserved for future issuance | 85,642,792 | 83,663,477
Options issued and outstanding under stock plan | 17,409,666 | 15,932,040
Options to purchase common stock |  |
Class of Stock [Line Items] |  |
Shares available for grants under stock option plan | 645,399 | 143,710
Warrants to purchase convertible preferred stock |  |
Class of Stock [Line Items] |  |
Total common stock reserved for future issuance | 2,019,245 | 2,019,245
Warrants to purchase common stock |  |
Class of Stock [Line Items] |  |
Total common stock reserved for future issuance | 140,394 | 140,394
Redeemable convertible preferred stock |  |
Class of Stock [Line Items] |  |
Total common stock reserved for future issuance | 65,428,088 | 65,428,088

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