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Related-Party Transactions - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Director | Quarterly payment      
Related Party Transaction [Line Items]      
Related party transaction, amounts of transaction $ 85,000    
Founders      
Related Party Transaction [Line Items]      
Consulting services expenses $ 500,000 $ 200,000 $ 200,000
Non-employee stock options      
Related Party Transaction [Line Items]      
Options granted (in shares) 75,000    
Granted (in dollars per share) $ 4.35