Stock-based Compensation - Summary of Stock Options Outstanding and Exercisable (Details) - $ / shares	9 Months Ended
	Sep. 30, 2020	Dec. 31, 2019
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	1,927,428	1,514,770
Shares Exercisable	629,373
Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	1,498,690
Shares Exercisable	449,681
Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	428,738
Shares Exercisable	179,692
Exercise Price $0.16
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 0.16
Exercise Price $0.16 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	75,660
Shares Exercisable	75,660
Exercise Price $0.16 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	12,611
Shares Exercisable	12,611
Exercise Price $0.48
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 0.48
Exercise Price $0.48 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	162,353
Shares Exercisable	162,353
Exercise Price $1.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.00
Exercise Price $1.00 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	37,830
Shares Exercisable	37,830
Exercise Price $1.04
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.04
Exercise Price $1.04 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	70,933
Shares Exercisable	70,933
Exercise Price $1.04 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	31,525
Shares Exercisable	31,525
Exercise Price $1.19
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.19
Exercise Price $1.19 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	52,645
Shares Exercisable	38,878
Exercise Price $1.19 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	34,677
Shares Exercisable	34,677
Exercise Price $1.31
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.31
Exercise Price $1.31 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	63,050
Shares Exercisable	63,050
Exercise Price $1.35
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.35
Exercise Price $1.35 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	294,754
Shares Exercisable	27,529
Exercise Price $1.35 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	116,642
Shares Exercisable	63,049
Exercise Price $1.49
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.49
Exercise Price $1.49 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	31,525
Shares Exercisable	10,508
Exercise Price $17.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 17.00
Exercise Price $17.00 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	747,770
Shares Exercisable	770
Exercise Price $17.00 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	195,453