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Stockholders' Equity (Deficit) - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Stock Options    
Beginning balance (in shares) 3,257,801  
Granted (in shares) 1,321,451  
Exercised (in shares) (273,734)  
Cancelled/forfeited (in shares) (328,117)  
Ending balance (in shares) 3,977,401 3,257,801
Exercisable (in shares) 800,595  
Weighted Average Exercise Price    
Beginning balance (in dollars per share) $ 11.99  
Granted (in dollars per share) 18.63  
Exercised (in dollars per share) 9.98  
Cancelled/forfeited (in dollars per share) 15.15  
Ending balance (in dollars per share) 14.07 $ 11.99
Exercisable (in dollars per share) $ 12.50  
Weighted Average Remaining Contractual Term (Years)    
Outstanding 8 years 6 months 4 days 9 years 3 months 4 days
Exercisable 8 years 3 months 11 days  
Aggregate Intrinsic Value    
Beginning balance $ 7,119  
Ending balance 7,198 $ 7,119
Exercisable $ 1,880  
Vested and expected to vest    
Outstanding (in shares) 3,977,401  
Weighted average exercise price (in dollars per share) $ 14.07  
Average remaining contractual term (Years) 8 years 6 months 4 days  
Aggregate intrinsic value $ 7,198