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Equity Incentive Plans - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 5 Months Ended 9 Months Ended
May 31, 2020
Mar. 31, 2020
Mar. 31, 2019
Sep. 30, 2020
Sep. 30, 2019
May 21, 2020
Sep. 30, 2020
Sep. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock-based compensation expense       $ 959,000 $ 140,000   $ 1,959,000 $ 330,000
Compensation costs related to all non-vested awards to be recognized in future       $ 11,631,000     $ 11,631,000  
Non vested stock awards, expected remaining weighted average period             3 years 4 months 24 days  
Common Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock purchased under ESPP             0  
Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Award vesting period     4 years          
Stock-based compensation expense           $ 0    
Restricted Stock Units | IPO                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock-based compensation expense             $ 159,000  
2020 Incentive Award Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Shares of common stock reserved for future issuance   3,468,048            
Percentage of annual increase in shares reserved for issuance on capital stock outstanding at year end   3.00%            
Number of shares available for issuance       3,592,873     3,592,873  
Number of shares granted             173,548  
2020 Incentive Award Plan | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Award vesting period             4 years  
Share-based compensation vesting rights, terms             The RSUs generally vest over a four-year period with straight-line vesting and a 25% one-year cliff or over a three-year period in equal amounts on a quarterly basis, provided the employee remains continuously employed with the Company.  
2020 Incentive Award Plan | Restricted Stock Units | Share Based Compensation Award Tranche One                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Cliff vesting, percentage             25.00%  
2020 Incentive Award Plan | Maximum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of award   10 years            
2011 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of shares available for issuance       269,268     269,268  
2011 Equity Incentive Plan | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of shares granted     2,867,326          
2020 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Shares of common stock reserved for future issuance 990,870              
First offering start date Aug. 01, 2020              
First offering end date Jan. 31, 2021              
Percentage of purchase price on fair market value of common stock 85.00%