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Stock-Based Compensation - Summary of Shares of Common Stock Available for Issuance (Details) - shares
Sep. 30, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total number of shares reserved 9,402,234 7,416,094
2011 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Reserved for issuance upon exercise of options outstanding 3,548,764 4,474,057
2019 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Reserved for issuance upon exercise or settlement of awards outstanding 2,239,610 377,378
Issuance under 2019 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares of stock options reserved for issuance [1] 2,200,594 2,392,343
Inducement Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares of stock options reserved for issuance 800,700  
Reserved for issuance upon exercise or settlement of awards outstanding 199,300  
ESPP    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares of stock options reserved for issuance [2] 413,266 172,316
[1] September 30, 2020 balance includes share increase added January 1, 2020 pursuant to the “evergreen” provision in the amount of 1,562,151 shares
[2] September 30, 2020 balance includes share increase added January 1, 2020 pursuant to the “evergreen” provision in the amount of 312,430 shares