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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Options Issued and Outstanding    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding, beginning, Shares Available for Grant 1,350,582  
Shares reserved for issuance, Shares Available for Grant 1,122,213  
Options granted, Shares Available for Grant (1,896,527)  
Options forfeited, Shares Available for Grant 449,375  
Outstanding, ending, Shares Available for Grant 212,308 1,350,582
Outstanding, beginning, Number of Options 1,122,677  
Options granted, Number of Options 1,896,527  
Options exercised, Number of Options (7,029)  
Options forfeited, Number of Options (449,375)  
Outstanding, ending, Number of Options 2,562,800 1,122,677
Exercisable, Number of Options 461,150  
Vested and expected to vest, Number of Options 2,562,800  
Outstanding, beginning, Weighted-Average Exercise Price per Option $ 11.63  
Options granted, Weighted-Average Exercise Price per Option 6.28  
Options exercised, Weighted-Average Exercise Price per Option 0.79  
Options forfeited, Weighted-Average Exercise Price per Option 10.77  
Outstanding, ending, Weighted-Average Exercise Price per Option 7.85 $ 11.63
Exercisable, Weighted-Average Exercise Price per Option 11.40  
Vested and expected to vest, Weighted-Average Exercise Price per Option $ 7.85  
Outstanding, Weighted-Average Remaining Contract Term 8 years 10 months 2 days 9 years 2 months 19 days
Exercisable, Weighted-Average Remaining Contract Term 7 years 21 days  
Vested and expected to vest, Weighted-Average Remaining Contract Term 8 years 10 months 2 days  
Outstanding, ending, Aggregate Intrinsic Value $ 200  
Exercisable, Aggregate Intrinsic Value 37  
Vested and expected to vest, Aggregate Intrinsic Value $ 200  
Restricted Stock Units    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Other than options granted, Shares Available for Grant (813,335)