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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2020
Dec. 31, 2019
Options Issued and Outstanding    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding, beginning, Shares Available for Grant 215,043  
Shares reserved for issuance, Shares Available for Grant 1,457,789  
Options granted, Shares Available for Grant (86,484)  
Options cancelled, Shares Available for Grant 509,272  
Outstanding, ending, Shares Available for Grant 2,260,656 215,043
Outstanding, beginning, Number of Options 2,562,800  
Options granted, Number of Options 86,484  
Options cancelled, Number of Options (509,272)  
Outstanding, ending, Number of Options 2,140,012 2,562,800
Exercisable, Number of Options 771,444  
Vested and expected to vest, Number of Options 2,140,012  
Outstanding, beginning, Weighted-Average Exercise Price per Option $ 7.85  
Options granted, Weighted-Average Exercise Price per Option 2.23  
Options cancelled, Weighted-Average Exercise Price per Option 7.44  
Outstanding, ending, Weighted-Average Exercise Price per Option 7.54 $ 7.85
Exercisable, Weighted-Average Exercise Price per Option 10.02  
Vested and expected to vest, Weighted-Average Exercise Price per Option $ 7.54  
Outstanding, Weighted-Average Remaining Contract Term 8 years 7 months 2 days 8 years 10 months 2 days
Exercisable, Weighted-Average Remaining Contract Term 8 years 14 days  
Vested and expected to vest, Weighted-Average Remaining Contract Term 8 years 7 months 2 days  
Outstanding, ending, Aggregate Intrinsic Value $ 567  
Exercisable, Aggregate Intrinsic Value 91  
Vested and expected to vest, Aggregate Intrinsic Value $ 567  
Restricted Stock Units    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Other than options cancelled, Shares Available for Grant 165,036