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Redeemable Convertible Preferred Stock Warrants - Additional Information (Details) $ / shares in Units, $ in Millions | 1 Months Ended | 3 Months Ended | 6 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jun. 30, 2017 USD ($) $ / shares shares | Sep. 30, 2020 shares | Jun. 30, 2019 shares | Sep. 30, 2020 shares | Jun. 24, 2019 USD ($) shares | Dec. 31, 2018 USD ($) | 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 |  | 62,096 | 22,489 |  |  |  |
Common stock issued for exercise of warrant |  |  | 19,069 | 40,357 |  |  |
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 |  |  |  |  |  |
Estimated fair value of warrants | $ | $ 0.1 |  |  |  |  |  |
Contractual term | 7 years |  |  |  |  |  |
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 |  |  |  |  |  |

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