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Commitment and Contingencies - Additional Information (Details)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Sep. 30, 2020
USD ($)
Lawsuit
Sep. 30, 2019
USD ($)
Dec. 31, 2018
USD ($)
Long Term Purchase Commitment [Line Items]          
Lease payments $ 0.2 $ 0.2 $ 0.6 $ 0.5  
Lawsuits Filed Against Company | Lawsuit     5    
Litigation settlement expense     $ 0.2    
Maximum          
Long Term Purchase Commitment [Line Items]          
Lawsuits Filed Against Company | Lawsuit     7    
Putative Class [Member]          
Long Term Purchase Commitment [Line Items]          
Number of settled and dismissed lawsuits | Lawsuit     8    
Menlo Park Lease Agreement [Member]          
Long Term Purchase Commitment [Line Items]          
Letters of Credit issued amount 0.2   $ 0.2    
Redwood City Lease Agreement [Member]          
Long Term Purchase Commitment [Line Items]          
Letters of Credit issued amount         $ 4.1
Boston, Massachusetts [Member]          
Long Term Purchase Commitment [Line Items]          
Letters of Credit issued amount $ 0.2   $ 0.2