Annual report pursuant to Section 13 and 15(d)

Net Loss Per Share - Summary of Common Stock Equivalents Excluded from Computation of Diluted Net Loss Per Share (Details)

v3.20.1
Net Loss Per Share - Summary of Common Stock Equivalents Excluded from Computation of Diluted Net Loss Per Share (Details) - shares
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 4,321,697 3,524,187 5,995,724
Redeemable Convertible Preferred Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share     5,063,404
Common Stock Options and Award Issued and Outstanding      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 4,208,463 3,422,958 835,320
Warrants to Purchase Redeemable Convertible Preferred Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share     93,527
Warrants to Purchase Common Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 71,813 71,813 1,099
Early Exercised Shares of Common Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share     2,374
Shares to be issued under ESPP      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 41,421 29,416