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Redeemable Convertible Preferred Stock - Schedule of Redeemable Convertible Preferred Stock (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Jun. 30, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Dec. 31, 2018
Temporary Equity [Line Items]            
PREFERRED SHARES AUTHORIZED 74,804,100   74,804,100      
PREFERRED SHARES ISSUED 73,987,407   73,924,907      
PREFERRED SHARES OUTSTANDING 73,987,407   73,924,907      
CARRYING VALUE $ 225,033   $ 214,784      
REDEMPTION VALUE 225,033   214,550      
LIQUIDATION PREFERENCE $ 225,033   $ 214,550      
COMMON STOCK ISSUABLE UPON CONVERSION 9,464,924   9,456,928      
Series A Redeemable Convertible Preferred Stock            
Temporary Equity [Line Items]            
PREFERRED SHARES AUTHORIZED 33,200,000   33,200,000      
PREFERRED SHARES ISSUED 33,200,000   33,200,000      
PREFERRED SHARES OUTSTANDING 33,200,000 33,200,000 33,200,000 33,200,000 33,200,000 33,200,000
CARRYING VALUE $ 46,162 $ 45,493 $ 44,169 $ 43,499 $ 42,830 $ 41,738
REDEMPTION VALUE 46,162   44,169      
LIQUIDATION PREFERENCE $ 46,162   $ 44,169      
COMMON STOCK ISSUABLE UPON CONVERSION 4,247,153   4,247,153      
Series B Redeemable Convertible Preferred Stock            
Temporary Equity [Line Items]            
PREFERRED SHARES AUTHORIZED 21,400,000   21,400,000      
PREFERRED SHARES ISSUED 20,583,328   20,520,828      
PREFERRED SHARES OUTSTANDING 20,583,328 20,583,328 20,520,828 20,520,828 20,520,828 20,479,162
CARRYING VALUE $ 84,769 $ 83,524 $ 81,108 $ 79,797 $ 78,487 $ 75,900
REDEMPTION VALUE 84,769   80,874      
LIQUIDATION PREFERENCE $ 84,769   $ 80,874      
COMMON STOCK ISSUABLE UPON CONVERSION 2,633,138   2,625,142      
Series C Redeemable Convertible Preferred Stock            
Temporary Equity [Line Items]            
PREFERRED SHARES AUTHORIZED 20,204,100   20,204,100      
PREFERRED SHARES ISSUED 20,204,079   20,204,079      
PREFERRED SHARES OUTSTANDING 20,204,079 20,204,079 20,204,079 20,204,079 20,204,079 20,204,079
CARRYING VALUE $ 94,102 $ 92,559 $ 89,507 $ 87,964 $ 86,421 $ 83,385
REDEMPTION VALUE 94,102   89,507      
LIQUIDATION PREFERENCE $ 94,102   $ 89,507      
COMMON STOCK ISSUABLE UPON CONVERSION 2,584,633   2,584,633