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Stock-Based Compensation - Summary of Option Activity Under the Plan (Details)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares underlying options, Beginning balance | shares 4,918,299  
Number of Shares underlying options, Options granted | shares 831,374  
Number of Shares underlying options, Options exercised | shares (32,675)  
Number of Shares underlying options, Options cancelled | shares (25,528)  
Number of Shares underlying options, Ending balance | shares 5,691,470 4,918,299
Number of Shares underlying options, Options vested and expected to vest | shares 5,691,470  
Number of Shares underlying options, Options vested and exercisable | shares 1,913,729  
2020 Plan and 2014 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Weighted-average exercise price, Beginning balance | $ / shares $ 3.59  
Weighted-average exercise price, Options granted | $ / shares 21.69  
Weighted-average exercise price, Options exercised | $ / shares 3.47  
Weighted-average exercise price, Options cancelled | $ / shares 9.79  
Weighted-average exercise price, Ending balance | $ / shares 6.21 $ 3.59
Weighted-average exercise price, Options vested and expected to vest | $ / shares 6.21  
Weighted-average exercise price, Options vested and exercisable | $ / shares $ 2.88  
Weighted-average remaining contractual term (in years) 8 years 7 months 20 days 8 years 11 months 15 days
Weighted-average remaining contractual term, Options vested and expected to vest 8 years 7 months 20 days  
Weighted-average remaining contractual term, Options vested and exercisable 7 years 10 months 24 days  
Aggregate intrinsic value | $ $ 145,211 $ 51,276
Aggregate intrinsic value, Options vested and expected to vest | $ 145,211  
Aggregate intrinsic value, Options vested and exercisable | $ $ 54,910