Net Loss Per Share of Common Stock - Schedule of Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Sep. 30, 2020	Sep. 30, 2019
Earnings Per Share [Abstract]
Net loss	$ (9,474)	$ (12,472)	$ (12,772)	$ (11,306)	$ (8,654)	$ (9,345)	$ (34,718)	$ (29,305)
Weighted-average number of common shares used to compute basic and diluted net loss per share (in shares)	28,713,418			24,803,452			28,155,561	24,596,788
Net loss per share, basic and diluted (in dollars per share)	$ (0.33)			$ (0.46)			$ (1.23)	$ (1.19)