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Net Loss per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2018
Sep. 30, 2018
Jun. 30, 2018
Mar. 31, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Earnings Per Share [Abstract]                      
Net loss attributable to common stockholders, basic                 $ (73,703) $ (51,445) $ (29,076)
Weighted-average common shares outstanding                 23,818,691 21,764,636 5,285,542
Less: weighted-average common shares subject to repurchase                   (95,947) (177,421)
Weighted-average common shares used to compute basic and diluted net loss per share                 23,818,691 21,668,689 5,108,121
Net loss attributable to common stockholders per share, basic and diluted $ (0.89) $ (0.70) $ (0.69) $ (0.81) $ (0.76) $ (0.56) $ (0.36) $ (0.72) $ (3.09) $ (2.37) $ (5.69)