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Stock-based Compensation - Additional Information (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Oct. 31, 2019
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation expense   $ 2,005 $ 431 $ 6,128 $ 1,155
2019 ESPP          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Total shares reserved 240,336        
Percentage of increase in shares reserved for issuance on common stock outstanding 1.00%        
Increase in shares at the beginning of each calendar year 240,336        
Maximum employee subscription rate on salary 15.00%        
Offering period 24 months        
Purchase period 6 months        
Purchase price of common stock as percentage of fair market value 85.00%        
Stock-based compensation expense   700   2,000  
Outstanding Unvested Stock Options and RSUs          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized stock-based compensation expense   $ 12,400   $ 12,400  
Unrecognized stock-based compensation expense, expected period to be recognized       2 years 2 months 8 days