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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 6 Months Ended
Jan. 01, 2020
Jul. 31, 2018
Feb. 28, 2015
Jun. 30, 2020
Jun. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Total intrinsic value of options exercised       $ 1.5  
Dividend yield       0.00%  
Weighted-average fair value of stock options granted to employees per share       $ 14.37 $ 16.95
Unrecognized stock-based compensation cost       $ 26.9  
Weighted-average period of unrecognized stock-based compensation cost expected to be recognized over remaining period       2 years 10 months 24 days  
ESPP          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Maximum percentage of eligible compensation to purchase common stock through payroll deductions   20.00%      
Unrecognized stock-based compensation cost       $ 0.9  
Weighted-average period of unrecognized stock-based compensation cost expected to be recognized over remaining period       1 year 7 months 6 days  
Common Stock | ESPP          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Plan expiration date       Jan. 01, 2028  
Shares reserved for issuance, authorized       638,720  
Additional shares available for future issuance 1,214,804        
2018 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Plan expiration period   2028-07      
Plan expiration term   10 years      
Vesting period   4 years      
Remaining shares available for future issuance       2,485,843  
Plan expiration date       Jan. 01, 2028  
Annual increase in the number of shares available for issuance       5.00%  
2018 Plan | Common Stock          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Additional shares available for future issuance 1,214,804        
2015 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Plan expiration term     10 years    
Vesting period     4 years    
Shares issued under early-exercise provisions subject to repurchase       23,311  
Unvested stock liability       $ 34,000.0