Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details)

v3.20.2
Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Granted, Shares 266,724 266,724
Exercised, Shares (191,153) (191,153)
Stock options outstanding, Ending Balance, Shares 66,681  
2004 and 2018 Equity Incentive Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock options outstanding, Beginning Balance, Shares 3,872,664  
Granted, Shares 1,655,078  
Exercised, Shares (26,502)  
Canceled and forfeited, Shares (112,989)  
Stock options outstanding, Ending Balance, Shares 5,388,251 3,872,664
Stock options exercisable, Shares 2,482,870  
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance | $ / shares $ 12.89  
Weighted - Average Exercise Price, Granted | $ / shares 8.96  
Weighted - Average Exercise Price, Exercised | $ / shares 6.49  
Weighted - Average Exercise Price, Canceled and forfeited | $ / shares 10.45  
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance | $ / shares 11.77 $ 12.89
Stock options exercisable, Weighted - Average Exercise Price, Exercisable | $ / shares $ 12.48  
Weighted - Average Remaining Contract Term 7 years 9 months 25 days 7 years 10 months 17 days
Weighted - Average Remaining Contract Term, Exercisable 6 years 8 months 8 days  
Aggregate Intrinsic Value, Balance | $ $ 3,425 $ 2,119
Aggregate Intrinsic Value, Exercisable | $ $ 1,389