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Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Sep. 30, 2020
Sep. 30, 2019
Numerator:                
Net loss $ (14,631) $ (12,387) $ (13,139) $ (9,971) $ (10,622) $ (9,188) $ (40,157) $ (29,781)
Denominator:                
Weighted average common shares outstanding 24,474,157     838,961     24,019,746 822,644
Less: weighted-average unvested common stock subject to repurchase (25,042)     (16,635)     (29,820) (35,482)
Weighted-average shares used to compute net loss per share, basic and diluted 24,449,115     803,229     23,989,926 741,711
Net loss per share, basic and diluted $ (0.60)     $ (12.41)     $ (1.67) $ (40.15)
Restricted Stock                
Denominator:                
Less: weighted-average unvested common stock subject to repurchase       (19,097)       (45,451)