Debt - Schedule of Debt (Details) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Current liabilities:
Term loans	$ 0	$ 2,800
Unamortized debt issuance costs	0	(25)
Unamortized debt discount	0	(1)
Loans payable, net of issuance costs and discount	0	2,774
Non-current liabilities:
Term loans	0	1,400
Accrued end of term fees	0	374
Unamortized debt issuance costs	0	(4)
Loans payable, net of issuance costs and discount	0	1,770
Total loans payable, net of issuance costs and discount	$ 0	$ 4,544