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Stock Option Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Mar. 31, 2019
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options granted (in shares)   848,023 629,716
Weighted average grant date fair value (in USD per share)   $ 10.17 $ 2.93
Fair value of options vested (in USD per share)   $ 2,221,000 $ 569,000
Aggregate intrinsic value of options exercised   $ 24,867 $ 787
Compensation expense for share-based awards   $ 2,977 $ 911
Common stock reserved for future issuance (in shares)   6,237,832 28,499,408
Compensation expensed not yet recognized   $ 8,539  
Compensation expensed not yet recognized, period for recognition   3 years 14 days  
ISO      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise threshold as a percentage of fair value of shares   100.00%  
NSO      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise threshold as a percentage of fair value of shares   85.00%  
ISO and NSO      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Option term   10 years  
Option vesting term   4 years  
ISO and NSO | 10% Stockholders      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise threshold as a percentage of fair value of shares   110.00%  
2019 ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Percent of outstanding shares of common stock 1.00%    
Percent of purchase of price of common stock 85.00%    
Common stock reserved for future issuance (in shares) 434,000 372,352,000  
Number of additional shares allowable under the plan (in shares) 1,200,000    
Compensation expensed not yet recognized   $ 219  
Compensation expensed not yet recognized, period for recognition   4 months 20 days  
Issuance of common stock under employee stock purchase plan (in shares)   61,648,000  
2019 Stock Option Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares of common stock reserved for issuance (in shares) 2,317,000 2,366,251  
Percent of outstanding shares of common stock 4.00%    
2019 Stock Option Plan | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of additional shares allowable under the plan (in shares) 3,000,000