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Stockholders' Equity - Additional Information (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
Oct. 31, 2019 | Jun. 30, 2014 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Payments of stock issuance costs |  |  |  |  |  |  |  |  |  | $ 110,000
Proceeds from issuance of common stock | $ 162,200,000 |  |  |  |  |  |  |  |  |
Shares of common stock issued pursuant to exercise of stock options |  |  |  |  |  |  |  |  | 159,000 |
Proceeds from stock option exercises |  |  |  |  |  |  |  |  | $ 1,833,000 | $ 20,239,000
Total unrecognized compensation cost related to non-vested, stock-based payment awards |  |  | $ 90,900,000 |  |  |  |  |  | $ 90,900,000 |
Total unrecognized compensation cost, expect to recognize over weighted average period |  |  |  |  |  |  |  |  | 2 years 6 months |
Pre-funded Warrants |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Class of warrant or right, number of securities called by warrants or rights |  | 600,000 |  |  |  |  |  |  |  |
Class of warrant or right, exercise price of warrants or rights |  | $ 0.01 |  |  |  |  |  |  |  |
Class of warrant or right, expiration date |  | Jun. 30, 2021 |  |  |  |  |  |  |  |
Class of warrant or right, exercised during period |  |  |  |  |  |  |  |  | 267,870 |
Proceeds from issuance of warrants |  |  |  |  |  |  |  |  | $ 2,679 |
Class of warrant or right, outstanding |  |  | 195,574 |  |  |  |  |  | 195,574 |
Common Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issued | 9,900,000 |  |  |  |  |  |  |  |  |
Share price | $ 17.50 |  |  |  |  |  |  |  |  |
Payments of stock issuance costs | $ 10,300,000 |  |  |  |  |  |  |  |  |
Issuance of common stock on exercise of warrants (in shares) |  |  |  |  | 268,000 |  |  |  |  |
Shares of common stock issued pursuant to exercise of stock options |  |  | 35,000 | 54,000 | 70,000 | 251,000 | 810,000 | 732,000 |  |
Common Stock | Pre-funded Warrants |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock on exercise of warrants (in shares) |  |  |  |  |  |  |  |  | 267,870 |

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