Stock-Based Compensation - Summary of Employee and Non-Employee Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares Issuable Under Options, Outstanding	3,142,687
Shares Issuable Under Options, Granted	1,516,900
Shares Issuable Under Options, Exercised	(274,436)
Shares Issuable Under Options, Forfeited	(495,963)
Shares Issuable Under Options, Outstanding	3,889,188	3,142,687
Shares Issuable Under Options, Options vested and expected to vest	3,762,950
Shares Issuable Under Options, Options exercisable	1,767,376
Weighted Average Exercise Price, Outstanding	$ 6.67
Weighted Average Exercise Price, Granted	8.09
Weighted Average Exercise Price, Exercised	4.16
Weighted Average Exercise Price, Forfeited	6.94
Weighted Average Exercise Price, Outstanding	7.37	$ 6.67
Weighted Average Exercise Price, Options vested and expected to vest	7.31
Weighted Average Exercise Price, Options exercisable	$ 6.67
Weighted Average Remaining Contractual Term, Outstanding	8 years 1 month 6 days	8 years 6 months 7 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest	8 years 1 month 2 days
Weighted Average Remaining Contractual Term, Options exercisable	7 years 3 months
Aggregate Intrinsic Value, Outstanding	$ 3,642	$ 4,798
Aggregate Intrinsic Value, Options vested and expected to vest	3,637
Aggregate Intrinsic Value, Options exercisable	$ 2,774