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Equity Incentive Plan - Additional information regarding stock option (Details) - 2019 Equity Incentive Plan - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Number of Shares      
Number of Stock options outstanding 3,742,144 2,136,291 567,319
Shares subject to stock options 1,793,254    
Weighted-Average Exercise Price      
Options Outstanding, weighted-Average Exercise Price per share $ 9.58 $ 6.06 $ 3.96
Options Exercisable, weighted-average exercise Price per share $ 5.87    
Weighted-Average Remaining Contractual Life      
Weighted-Average Remaining Contractual Life of options outstanding 8 years 7 months 6 days 8 years 10 months 24 days 8 years 1 month 6 days
Up to $0.66      
Number of Shares      
Number of Stock options outstanding 48,984    
Shares subject to stock options 48,984    
Weighted-Average Exercise Price      
Options Outstanding, weighted-Average Exercise Price per share $ 0.17    
Options Exercisable, weighted-average exercise Price per share $ 0.17    
Weighted-Average Remaining Contractual Life      
Weighted-Average Remaining Contractual Life of options outstanding 2 years 10 months 24 days    
$4.56-$5.16      
Number of Shares      
Number of Stock options outstanding 1,474,367    
Shares subject to stock options 1,450,561    
Weighted-Average Exercise Price      
Options Outstanding, weighted-Average Exercise Price per share $ 5.00    
Options Exercisable, weighted-average exercise Price per share $ 5.00    
Weighted-Average Remaining Contractual Life      
Weighted-Average Remaining Contractual Life of options outstanding 7 years 8 months 12 days    
$9.94-$12.95      
Number of Shares      
Number of Stock options outstanding 1,720,981    
Shares subject to stock options 293,709    
Weighted-Average Exercise Price      
Options Outstanding, weighted-Average Exercise Price per share $ 11.56    
Options Exercisable, weighted-average exercise Price per share $ 11.13    
Weighted-Average Remaining Contractual Life      
Weighted-Average Remaining Contractual Life of options outstanding 9 years 1 month 6 days    
$16.10-$22.06      
Number of Shares      
Number of Stock options outstanding 497,812    
Weighted-Average Exercise Price      
Options Outstanding, weighted-Average Exercise Price per share $ 17.18    
Weighted-Average Remaining Contractual Life      
Weighted-Average Remaining Contractual Life of options outstanding 9 years 6 months