Convertible Preferred Stock and Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Common stock available for future issuance	6,115,466	19,009,189
Conversion of Preferred Stock
Class Of Stock [Line Items]
Common stock available for future issuance		16,685,014
Common Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance	23,122
Preferred Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance		23,122
Common Stock Options Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	3,332,545	1,684,630
Shares Available for Issuance under the 2020 Plan
Class Of Stock [Line Items]
Common stock available for future issuance	2,759,799	616,423