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Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - Employees And Non Employees - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | $ 3,694 | $ 2,793 | $ 470
Research and Development |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | 1,542 | 1,236 | 246
General and Administrative |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | $ 2,152 | $ 1,557 | $ 224

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