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Stockholders' Deficit - Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2019
Dec. 31, 2018
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