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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Accrued expenses	$ 107	$ 132
Stock-based compensation	2,436	1,911
Lease liability	945	0
Other	(856)	(31)
Net operating loss carryforwards	58,073	44,730
Research and development credits	5,984	3,226
Total deferred tax assets	66,689	49,968
Valuation allowances	(66,689)	(49,968)
Net deferred tax assets	$ 0	$ 0

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