Stock Option Plan - Summary of Stock Awards and Option Activity Under Stock Incentive Plan (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2020	Dec. 31, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Awards Available for Grant, Beginning balance	4,847,877
Awards Available for Grant, Authorized	700,023
Awards Available for Grant, Granted	(55,000)
Awards Available for Grant, Canceled	34,707
Awards Available for Grant, Ending balance	5,527,607	4,847,877
Options Issued and Outstanding, Beginning balance	850,334
Options Issued and Outstanding, Exercised	(95,557)
Options Issued and Outstanding, Canceled	(6,668)
Options Issued and Outstanding, Ending balance	748,109	850,334
Options Issued and Outstanding, Options vested and expected to vest	748,109
Options Issued and Outstanding, Options vested and exercisable	537,772
Weighted Average Exercise Price, Beginning balance	$ 2.30
Weighted Average Exercise Price, Exercised	1.66
Weighted Average Exercise Price, Canceled	1.95
Weighted Average Exercise Price, Ending balance	2.38	$ 2.30
Weighted Average Exercise Price, Options vested and expected to vest	2.38
Weighted Average Exercise Price, Options vested and exercisable	$ 2.24
Weighted-Average Remaining Contractual Term	6 years 1 month 6 days	6 years 9 months 18 days
Weighted-Average Remaining Contractual Term, Options vested and expected to vest	6 years 1 month 6 days
Weighted-Average Remaining Contractual Term, Options vested and exercisable	6 years
Aggregate Intrinsic Value	$ 1,463	$ 3,587
Aggregate Intrinsic Value, Options vested and expected to vest	1,463
Aggregate Intrinsic Value, Options vested and exercisable	$ 1,131