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Balance Sheet Details - Summary of Accrued Expenses (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Organization Consolidation And Presentation Of Financial Statements [Abstract]    
Accrued interest expense $ 3,870 $ 2,692
Accrued manufacturing costs 1,449 1,339
Accrued clinical study costs 426 3,496
Accrued other 1,938 1,785
Total accrued expenses $ 7,683 $ 9,312