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Stock-Based Compensation Expense - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Apr. 30, 2020
Feb. 29, 2016
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares granted         702,505  
Shares of common stock reserved for future issuances     3,046,213   3,046,213  
Stock-based compensation     $ 468,000 $ 49,000 $ 1,221,000 $ 141,000
Weighted-average fair value of options granted to employees, directors and consultants     $ 9.12 $ 6.70 $ 9.81 $ 3.45
Aggregate intrinsic value of stock options exercised     $ 3,000 $ 23,000 $ 3,000 $ 75,000
Unrecognized stock-based compensation expense relating to unvested stock options     6,300,000   $ 6,300,000  
Unvested stock options expected to be recognized over a weighted-average period         3 years 4 months 24 days  
Milestone-based Awards            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation     0 $ 0 $ 0 $ 0
Revenue-based Milestone            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Unrecognized stock-based compensation expense relating to unvested stock options     $ 36,000   $ 36,000  
Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting period         4 years  
Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock option expiration period         10 years  
2005 and 2016 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares granted   0        
2020 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuances 2,100,000          
Maximum number of common shares issued 8,800,000          
Percentage of common shares increase automatically in each year 4.00%          
Number of shares available for future grant     1,520,906   1,520,906  
2020 ESPP            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuances 150,000          
Maximum number of common shares issued 987,500          
Annual increase in number of shares available for issuance as percentage of outstanding shares common stock on final day of immediately preceding fiscal year 0.50%          
Purchase price of shares as percentage lower of fair market value of common stock 85.00%