Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	9 Months Ended
	Sep. 30, 2020
Number of shares
Balance at beginning of period	1,420,942
Granted	160,786
Exercised	(25,763)
Canceled/forfeited	(60,575)
Balance at end of period	1,495,390
Vested and expected to vest at end of period	1,426,255
Exercisable at end of period	414,055
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 10.35
Granted ( in dollars per share)	14.92
Exercised (in dollars per share)	6.31
Canceled/forfeited (in dollars per share)	12.65
Balance at end of period (in dollars per share)	10.81
Vested and expected to vest at end of period (in dollars per share)	10.74
Exercisable at end of period (in dollars per share)	$ 6.01
Weighted average remaining contractual term
Weighted average remaining contractual term, outstanding	8 years 2 months 9 days
Weighted average remaining contractual term, Vested and expected to vest	8 years 1 month 24 days
Weighted average remaining contractual term, Exercisable	5 years 11 months 5 days