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Income Taxes - Schedule of Reconciliation of Income Tax Expense Computed at Statutory Federal Income Tax Rate to Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
Income tax benefit at federal statutory rate	$ (17,368)	$ (7,899)	$ (11,484)
State taxes	(5,314)	(2,340)	(1,011)
Tax credits	(2,910)	(817)	(222)
Stock-based compensation	753	764	140
Federal tax rate change			2,202
Change in fair value of tranche rights		3	5,065
Other	25	241
Change in valuation allowance	24,850	10,074	5,310
Income tax expense	$ 36	$ 26	$ 0
Effective tax rate	0.00%	0.00%	0.00%

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