Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details)

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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2020
Dec. 31, 2019
Stockholders Equity [Line Items]    
Reserved common stock 8,473,259 7,357,234
Common Stock    
Stockholders Equity [Line Items]    
Reserved common stock 5,388,251 3,872,664
Restricted Common Stock Units Issued and Outstanding    
Stockholders Equity [Line Items]    
Reserved common stock 652,175 335,799
2004 and 2018 Equity Incentive Plan    
Stockholders Equity [Line Items]    
Reserved common stock 1,918,224 2,750,416
2018 Employee Stock Purchase Plan    
Stockholders Equity [Line Items]    
Reserved common stock 361,539 326,542
Warrants to Purchase Common Stock    
Stockholders Equity [Line Items]    
Reserved common stock 153,070 71,813