Redeemable Convertible Preferred Stock Warrants - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions		1 Months Ended	6 Months Ended
	Jun. 30, 2017	Aug. 31, 2020	Jun. 30, 2019	Jun. 24, 2019	Sep. 30, 2014
Convertible Preferred Stock Warrants [Line Items]
Warrant issued to purchase stock				188,643
Estimated fair value of convertible preferred stock warrants	$ 0.1
Fair value transferred to additional paid-in capital				$ 2.1
Warrant exercised		62,096	22,489
Common stock issued for exercise of warrant		40,357	19,069
Term Loan | Silicon Valley Bank
Convertible Preferred Stock Warrants [Line Items]
Line of Credit Facility, Maximum Borrowing Capacity					$ 3.0
Series B Redeemable Convertible Preferred Stock | Term Loan
Convertible Preferred Stock Warrants [Line Items]
Warrant issued to purchase stock					22,489
Warrant exercise price per share					$ 4.60
Series C Redeemable Convertible Preferred Stock | Revolving Loan
Convertible Preferred Stock Warrants [Line Items]
Warrant issued to purchase stock	62,096
Warrant exercise price per share	$ 8.052