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Stock-based Compensation - Narrative (Details) - shares
3 Months Ended 12 Months Ended
Mar. 31, 2020
Dec. 31, 2017
Dec. 31, 2019
Stock-based compensation      
Common stock available for future grant 9,961,500   8,488,405
2017 Equity Incentive Plan      
Stock-based compensation      
Common stock available for future grant 138,513    
2017 Equity Incentive Plan | Maximum      
Stock-based compensation      
Common stock available for future grant 2,439,678    
2017 Equity Incentive Plan | Minimum      
Stock-based compensation      
Common stock available for future grant   3,573,766  
Percentage of aggregate number of common shares reserved for future issuance (as a percent)   4.00%  
2009 plan      
Stock-based compensation      
Common stock available for future grant 2,439,678   2,530,586
Number of shares outstanding 8,817,943   7,453,076
Employee and Non-Employee Stock Options      
Stock-based compensation      
Common stock available for future grant 709,500   705,500
Employee and Non-Employee Stock Options | 2009 plan      
Stock-based compensation      
Options Expiry Term 10 years    
Vesting Period 4 years    
Performance Stock Options      
Stock-based compensation      
Number of shares outstanding 0    
ESPP      
Stock-based compensation      
Common stock available for future grant 523,860   438,307