Summary of Significant Accounting Policies - Schedule of Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				9 Months Ended
	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Accounting Policies [Abstract]
Net loss	$ (10,315)	$ (10,353)	$ (9,941)	$ (8,007)	$ (30,608)	$ (44,124)
Weighted average common stock outstanding used to compute net loss per share, basic and diluted (in shares)	33,757,599			30,764,354	32,597,007	20,249,580
Net loss per share, basic and diluted (in USD per share)	$ (0.31)			$ (0.26)	$ (0.94)	$ (2.18)