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Borrowings - Additional Information (Details) - USD ($) |  | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Mar. 22, 2019 | Jun. 30, 2017 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019 | Dec. 31, 2019 | Jun. 20, 2019
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Amounts outstanding under financing arrangements |  |  |  | $ 0 |  | $ 0 |
Warrant issued to purchase stock |  |  |  |  |  |  | 188,643
Common Stock |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Warrant exercisable term | 7 years |  |  |  |  |  |
Revolving Loan | Series C Redeemable Convertible Preferred Stock |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Warrant issued to purchase stock |  | 62,096 |  |  |  |  |
Warrant exercise price per share |  | $ 8.052 |  |  |  |  |
TriplePoint Capital LLC |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Line of Credit Facility, Maximum Borrowing Capacity | $ 20,000,000 |  |  |  |  |  |
Line of credit outstanding |  |  | $ 20,000,000 |  | $ 20,000,000 |  |
Line of credit facility interest rate |  |  |  |  | 15.23% |  |
Estimated fair value of warrants | $ 600,000 |  |  |  |  |  |
Interest expense |  |  | 700,000 |  | $ 700,000 |  |
Line of Credit Facility, Frequency of Payments |  |  |  | 36 equal monthly payments of principal, plus accrued interest, from April 1, 2020 through March 1, 2023 |  |  |
Percentage of prepayment fee | 1.00% |  |  |  |  |  |
Percentage of principle payment amount | 2.75% |  |  |  |  |  |
Fees paid to lender | $ 300,000 |  |  |  |  |  |
TriplePoint Capital LLC | Common Stock |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Warrant issued to purchase stock | 65,502 |  |  |  |  |  |
Warrant exercise price per share | $ 9.16 |  |  |  |  |  |
Warrant exercisable term | 7 years |  |  |  |  |  |
TriplePoint Capital LLC | Maximum | Option One |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Line of credit outstanding | $ 15,000,000 |  |  |  |  |  |
TriplePoint Capital LLC | Minimum | Option Two |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Line of credit outstanding | 15,000,000 |  |  |  |  |  |
TriplePoint Capital LLC | Revolving Loan |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Line of Credit Facility, Maximum Borrowing Capacity |  | $ 10,000,000 |  |  |  |  |
Line of credit outstanding |  | $ 5,000,000 |  |  |  |  |
Line of credit facility interest rate |  | 5.50% |  |  | 19.22% |  |
Line of credit facility maturity date |  |  |  | Dec. 31, 2018 |  |  |
Line of credit facility extended maturity date |  |  |  | Mar. 22, 2019 |  |  |
Estimated fair value of warrants |  | $ 100,000 |  |  |  |  |
Debt Instrument, term |  | 1 year 6 months |  |  |  |  |
Interest expense |  |  | $ 0 |  | $ 200,000 |  |
Repayments of amount outstanding | $ 5,100,000 |  |  |  |  |  |
TriplePoint Capital LLC | Revolving Loan | Series C Redeemable Convertible Preferred Stock |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Warrant issued to purchase stock |  | 62,096 |  |  |  |  |
Warrant exercise price per share |  | $ 8.052 |  |  |  |  |
Warrant exercisable term |  | 7 years |  |  |  |  |
TriplePoint Capital LLC | Prime Rate | Option One |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Interest rate, prime rate plus | 5.00% |  |  |  |  |  |
TriplePoint Capital LLC | Prime Rate | Option Two |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Interest rate, prime rate plus | 6.50% |  |  |  |  |  |
TriplePoint Capital LLC | Prime Rate | Revolving Loan |  |  |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |  |  |
Interest rate, prime rate plus |  | 6.75% |  |  |  |  |

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