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Convertible Preferred Stock - Schedule of Convertible Preferred Stock Authorized and Issued and its Principal Terms (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2019
Apr. 30, 2020
Temporary Equity [Line Items]    
Shares Authorized 20,348,788  
Shares Issued 19,278,606  
Shares Outstanding 19,278,606 0
Series A Convertible Preferred Stock    
Temporary Equity [Line Items]    
Shares Authorized 3,862,500  
Shares Issued 3,862,500  
Shares Outstanding 3,862,500  
Issue Price per Share $ 4.00  
Dividend Annual Rate per Share $ 0.32  
Aggregate Liquidation Preference $ 15,450  
Series A Convertible Preferred Stock | Minimum    
Temporary Equity [Line Items]    
Issue Period 2014  
Series A Convertible Preferred Stock | Maximum    
Temporary Equity [Line Items]    
Issue Period 2015  
Series B Convertible Preferred Stock    
Temporary Equity [Line Items]    
Shares Authorized 6,750,000  
Shares Issued 6,749,999  
Shares Outstanding 6,749,999  
Issue Price per Share $ 8.00  
Dividend Annual Rate per Share $ 0.64  
Aggregate Liquidation Preference $ 54,000  
Series B Convertible Preferred Stock | Minimum    
Temporary Equity [Line Items]    
Issue Period 2015  
Series B Convertible Preferred Stock | Maximum    
Temporary Equity [Line Items]    
Issue Period 2016  
Series C Convertible Preferred Stock    
Temporary Equity [Line Items]    
Shares Authorized 4,448,788  
Shares Issued 4,448,780  
Shares Outstanding 4,448,780  
Issue Price per Share $ 12.00  
Dividend Annual Rate per Share $ 0.96  
Aggregate Liquidation Preference $ 53,385  
Series C Convertible Preferred Stock | Minimum    
Temporary Equity [Line Items]    
Issue Period 2018  
Series C Convertible Preferred Stock | Maximum    
Temporary Equity [Line Items]    
Issue Period 2019  
Series D Convertible Preferred Stock    
Temporary Equity [Line Items]    
Shares Authorized 5,287,500  
Shares Issued 4,217,327  
Shares Outstanding 4,217,327  
Issue Period 2019  
Issue Price per Share $ 13.20  
Dividend Annual Rate per Share $ 1.056  
Aggregate Liquidation Preference $ 55,669