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Stock-based Compensation - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended 36 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2018
Dec. 31, 2016
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock, capital shares reserved for future issuance 56,475,053   56,475,053        
Share-based compensation expense $ 4,238,000 $ 157,000 $ 4,636,000 $ 450,000      
Unrecognized compensation expense $ 14,923,000   $ 14,923,000        
Remaining weighted average period for recognize compensation expense     3 years 8 months 12 days        
Stock Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting contractual term     10 years        
2013 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock, capital shares reserved for future issuance 514,477   514,477        
2013 Equity Incentive Plan | Common Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares, granted 7,095,494   7,095,494        
2013 Equity Incentive Plan | Restricted Stock | Consultant              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares, granted         100,000 100,000 200,000
Price paid per share         $ 1.24 $ 1.21 $ 1.24
Aggregate amount received for shares         $ 124,000 $ 121,000  
Total amounts received for unvested and forfeitable common stock     $ 245,000        
2013 Equity Incentive Plan | Restricted Stock | Common Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares, granted 3,370,000   3,370,000        
2013 Equity Incentive Plan | Performance-based Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation expense     $ 0        
2013 Equity Incentive Plan | Non-vested Restricted Common Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Unrecognized compensation expense $ 370,000   $ 370,000        
Minimum | Stock Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting service period     3 years        
Maximum | Stock Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting service period     4 years        
Maximum | 2013 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares available for grant 10,979,971   10,979,971