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Equity Incentive Plans - Stock options (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended		9 Months Ended		12 Months Ended
	Oct. 31, 2019	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019	Sep. 30, 2020	Dec. 31, 2019
Options
Outstanding balance at the beginning of the period (in shares)				4,024,566
Granted (in shares)				2,547,500
Exercised (in shares)				(32,778)
Forfeited (in shares)				(260,435)
Outstanding balance at the end of the period (in shares)		6,278,853		6,278,853		4,024,566
Options exercisable at the end of the period (in shares)							3,113,663
Options vested and expected to vest at end of period (in shares)							6,278,853
Weighted Average Exercise Price Per Share
Outstanding balance at the beginning of the period (in dollars per share)				$ 7.48
Granted (in dollars per share)				2.12
Exercised (in dollars per share)				1.53
Forfeited (in dollars per share)				6.95
Outstanding balance at the end of the period (in dollars per share)		$ 5.35		$ 5.35		$ 7.48
Exercisable at the end of the period (in dollars per share)							$ 8.45
Options vested and expected to vest at end of the period (in dollars per share)							$ 5.35
Weighted Average Remaining Life in Years
Outstanding balance				8 years 2 months 5 days		7 years 11 months 23 days
Options exercisable at end of period				7 years 1 month 13 days
Options vested and expected to vest at end of the period				8 years 2 months 5 days
Aggregate Intrinsic Value
Outstanding balance							$ 1,082	$ 2
Options exercisable at the end of the period							359
Options vested and expected to vest at end of the period							1,082
Stock-based compensation expense		$ 591	$ 950	$ 1,687	$ 2,796
Assumptions used to determine grant-date fair value
Expected Volatility				66.94%		66.94%
Weighted average risk-free interest rate				0.66%		2.07%
Expected dividend yield				0.00%		0.00%
Expected term (in years)				6 years 10 months 6 days		6 years 9 months 7 days
Expiration period				10 years
Compensation cost related to the non-vested awards not yet recognized							$ 4,453
Weighted average period for recognition of compensation cost				2 years 2 months 16 days
Research and development
Aggregate Intrinsic Value
Stock-based compensation expense		282	181	$ 720	536
General and administrative
Aggregate Intrinsic Value
Stock-based compensation expense		$ 309	$ 769	$ 967	$ 2,260
Minimum
Assumptions used to determine grant-date fair value
Vesting period				3 years
Maximum
Assumptions used to determine grant-date fair value
Vesting period				4 years
Restricted Stock Units (RSUs)
Assumptions used to determine grant-date fair value
Weighted average period for recognition of compensation cost				2 years 2 months 1 day
Restricted Stock Units (RSUs) | Executive Officer [Member]
Aggregate Intrinsic Value
Stock-based compensation expense				$ 170
Assumptions used to determine grant-date fair value
Vesting period				3 years
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Awarded				660,606
Settled in cash	90,500
Restricted Stock Units (RSUs) | 2016 Plan
Assumptions used to determine grant-date fair value
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value		$ 1.49		$ 1.49		$ 1.74	$ 1.49	$ 1.74
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding at the beginning				90,500
Awarded				753,106
Settled in cash				(90,500)
Outstanding at the end		753,106		753,106		90,500
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Outstanding at beginning( in dollars per share)				$ 1.74
Awarded (in dollars per share)				1.49
Settled in cash(in dollars per share)				1.74
Outstanding at end(in dollars per share)		$ 1.49		$ 1.49		$ 1.74

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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