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Equity Incentive Plans - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Jan. 01, 2019
Jan. 01, 2018
Jan. 26, 2017
Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost       $ 27.7
Options to purchase common stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period (in years)       4 years
Award expiration period (in years)       10 years
Options to purchase common stock | Director Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period (in years)       1 year
Award expiration period (in years)       10 years
Employee and nonemployee stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted average period remaining for amortization of unrecognized compensation cost (in years)       3 years 1 month 17 days
2017 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Annual increase in number of shares available for issuance     4.00%  
Capital shares reserved for future issuance, increase (in shares) 1,090,203      
2017 Employee Stock Purchase Plan | Employee stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Annual increase in number of shares available for issuance   1.00%    
Capital shares reserved for future issuance, increase (in shares) 272,550