Annual report pursuant to Section 13 and 15(d)

Organization and Principal Activities - Additional Information (Details)

v3.20.1
Organization and Principal Activities - Additional Information (Details)
12 Months Ended
Feb. 28, 2020
USD ($)
Dec. 31, 2019
USD ($)
Segment
Dec. 31, 2018
USD ($)
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Date of incorporation   Apr. 21, 2003  
Headquartered in   South San Francisco  
Headquartered in state   CA  
Number of operating segments | Segment   1  
Accumulated deficit   $ 195,745,000 $ 150,328,000
Unrestricted cash, cash equivalents and marketable securities   $ 133,500,000  
Substantial doubt about going concern, within one year   false  
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | Term A Loan | Subsequent Event      
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Term loan maximum borrowing capacity $ 25,000,000.0    
Borrowed amount 25,000,000.0    
Repayment of outstanding principal amount 9,600,000    
Maximum | Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | Term Loans | Subsequent Event      
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Additional borrowing amount 5,000,000.0    
Minimum      
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Going concern period from issuance date of unaudited interim condensed financial statements   12 months  
Minimum | Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | Term B Loan | Subsequent Event      
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Upfront payment received $ 50,000,000.0