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Debt - Additional Information (Details)
1 Months Ended 9 Months Ended
Jun. 17, 2020
shares
Jun. 30, 2020
USD ($)
$ / shares
shares
Aug. 31, 2018
USD ($)
Jun. 30, 2017
USD ($)
Installment
$ / shares
shares
Sep. 30, 2020
USD ($)
$ / shares
shares
Sep. 30, 2019
USD ($)
Debt Instrument [Line Items]            
Repayment of existing loan         $ 4,683,000 $ 2,100,000
Proceeds from notes         $ 0 $ 19,451,000
Common Stock            
Debt Instrument [Line Items]            
Warrant exercisable | shares   7,809        
Exercise price of warrant | $ / shares   $ 4.77        
Cashless exercise of warrants | shares 15,833          
SVB            
Debt Instrument [Line Items]            
Repayment of existing loan       $ 4,100,000    
Debt instrument final payments       $ 400,000    
SVB | Convertible Notes            
Debt Instrument [Line Items]            
Proceeds from notes     $ 3,000,000      
SVB | Term C Loan | Common Stock            
Debt Instrument [Line Items]            
Warrant term         7 years  
Exercise price of warrant | $ / shares       $ 0.53    
SVB | Term C Loan | Common Stock | Maximum            
Debt Instrument [Line Items]            
Warrant to purchase common stock | shares       9,442    
SVB | Term A And Term B Loans | Series A Convertible Preferred Stock            
Debt Instrument [Line Items]            
Exercise price of warrant | $ / shares         $ 2.2615  
Warrant term         10 years  
SVB | Term A And Term B Loans | Series A Convertible Preferred Stock | Maximum            
Debt Instrument [Line Items]            
Warrant to purchase convertible preferred stock | shares         16,474  
SVB | LSA Amendment            
Debt Instrument [Line Items]            
Loan facility maximum borrowing capacity       $ 7,000,000    
SVB | LSA Amendment | Term C Loan            
Debt Instrument [Line Items]            
Face amount of loans       5,000,000    
Debt instrument final payments       $ 300,000    
Maturity date       Jun. 01, 2021    
Basis spread on variable rate       0.20%    
Frequency of periodic payment principal         36 equal monthly  
Number of equal monthly installments of principal | Installment       36    
Frequency of periodic payment interest         monthly  
Debt instrument final payment percentage       6.50%    
SVB | LSA Amendment | Term D Loan            
Debt Instrument [Line Items]            
Face amount of loans     2,000,000      
SVB | LSA Second Amendment | Term D Loan            
Debt Instrument [Line Items]            
Debt instrument final payments     $ 100,000      
Debt instrument final payment percentage     6.50%      
Proceeds from issuance of long-term debt     $ 2,000,000      
SVB | LSA | Term C And D Loans            
Debt Instrument [Line Items]            
Loans prepaid amount   $ 2,800,000        
Payment of final payment and accrued interest   $ 500,000