Income Taxes - Summary of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns
Unrecognized benefit—beginning of year	$ 1,663	$ 1,057
Gross decreases—prior year tax positions	(127)	0
Gross increases—current year tax positions	623	606
Unrecognized benefit—end of year	$ 2,159	$ 1,663