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Stock Based Compensation - Additional Information (Details) - USD ($)	1 Months Ended	6 Months Ended	12 Months Ended
	Feb. 29, 2020	Jun. 30, 2020	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average grant-date fair value of options granted		$ 4.25	$ 4.93
Stock options vested aggregate intrinsic value		$ 2,500,000	$ 2,300,000
Stock options expected to vest aggregate intrinsic value		300,000	300,000
Total unrecognized compensation cost of unvested stock options		$ 3,800,000	$ 3,200,000
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Offering period of employee stock purchase plan		6 months
Limited percentage of annual contribution		20.00%
Percentage of discount and fair value of option		15.00%
Proceeds from stock issued during period	$ 99,000
Number of stock issued during period	15,000
Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price percentage of market value of common stock		85.00%
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized compensation cost, period for recognition		4 years
Restricted Stock Unit (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average remaining contractual term		1 year 9 months 18 days
Total unrecognized compensation cost		$ 1,800,000