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Cash, Cash Equivalents and Investments - Summary of Reconciliation of Cash, Cash Equivalents, and Restricted Cash (Details) - USD ($)
Sep. 30, 2020
Dec. 31, 2019
Sep. 30, 2019
Dec. 31, 2018
Fair Value Disclosures [Abstract]        
Cash and cash equivalents $ 64,246,000 $ 51,214,000 $ 44,740,000  
Restricted cash 0   250,000  
Total cash, cash equivalents and restricted cash $ 64,246,000 $ 51,214,000 $ 44,990,000 $ 24,872,000