Common Stock and Non-Voting Common Stock - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2020	Dec. 31, 2019
Stockholders Equity Note [Abstract]
Restricted stock, issued and outstanding	58,259	58,259
Stock options, issued and outstanding	2,974,547	2,289,209
Stock options and restricted stock units, future issuance	2,855,052	2,669,264
Employee stock purchase plan, available for future grants	497,826	280,000
Total	6,385,684	5,296,732