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Redeemable Convertible Preferred Stock Warrants - Additional Information (Details)
$ / shares in Units, $ in Millions
 1 Months Ended 6 Months Ended
Jun. 30, 2017
USD ($)
$ / shares
shares
Jun. 30, 2019
shares
Jun. 30, 2020
USD ($)
shares
Jun. 20, 2019
shares
Dec. 31, 2018
USD ($)
Sep. 30, 2014
$ / shares
shares
Convertible Preferred Stock Warrants [Line Items]            
Warrant issued to purchase stock       188,643    
Fair values of convertible preferred stock warrants | $         $ 0.7  
Fair value transferred to additional paid-in capital | $     $ 2.1      
Warrant exercised   22,489        
Common stock issued for exercise of warrant   19,069        
Warrant outstanding     62,096      
Series B Redeemable Convertible Preferred Stock | Term Loan            
Convertible Preferred Stock Warrants [Line Items]            
Warrant issued to purchase stock           22,489
Warrant exercise price per share | $ / shares           $ 4.60
Series C Redeemable Convertible Preferred Stock | Revolving Loan            
Convertible Preferred Stock Warrants [Line Items]            
Warrant issued to purchase stock 62,096          
Warrant exercise price per share | $ / shares $ 8.052          
Contractual term 7 years          
Estimated fair value of warrants | $ $ 0.1          
Series C Redeemable Convertible Preferred Stock | Revolving Loan | Risk-free Interest Rate            
Convertible Preferred Stock Warrants [Line Items]            
Warrants and rights outstanding, measurement input 1.97          
Series C Redeemable Convertible Preferred Stock | Revolving Loan | Volatility            
Convertible Preferred Stock Warrants [Line Items]            
Warrants and rights outstanding, measurement input 64.33          
Series C Redeemable Convertible Preferred Stock | Revolving Loan | Dividend Yield            
Convertible Preferred Stock Warrants [Line Items]            
Warrants and rights outstanding, measurement input 0