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Stock Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jan. 01, 2020
Jan. 01, 2019
Sep. 01, 2018
Mar. 31, 2018
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Aggregate proceeds from shares issued under the plan         $ 829  
Stock-based compensation         7,635 $ 2,623
Total intrinsic value of options exercised         $ 1,900 $ 1,800
Weighted-average grant date fair value per share for options granted         $ 12.90 $ 10.41
Remaining shares subject to repurchase         21,666 151,289
Liability for unvested common shares subject to repurchase included in accrued expenses and other liabilities         $ 37 $ 112
Accrued Expenses and Other Liabilities            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Liability for unvested common shares subject to repurchase included in accrued expenses and other liabilities         $ 100 100
2015 Stock Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock option vesting period         4 years  
Stock options expiration period         10 years  
Number of additional shares available for future grant         0  
2018 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares available for issuance       3,186,205    
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock       4.00%    
Maximum shares of common stock may be issued       20,887,347    
Number of shares outstanding available for future grant         1,637,094  
2018 Incentive Award Plan | Subsequent Event            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock 4.00%          
Number of additional shares added to the plan 1,804,670          
2018 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares available for issuance       353,980    
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock   1.00%   1.00%    
Number of shares outstanding available for future grant         672,331  
Maximum shares allowed to be issued under ESPP       4,778,738    
Purchase of common stock through payroll deductions expressed in percentage of fair market value     85.00%   85.00%  
Common stock offering period     6 months      
Number of shares issued to the plan         55,234  
Aggregate proceeds from shares issued under the plan         $ 800 0
Stock-based compensation         200 $ 100
2018 Employee Stock Purchase Plan | Subsequent Event            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of additional shares added to the plan 451,167          
2015 and 2018 Stock Incentive Plans            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Unrecognized compensation expense         $ 31,500  
Unrecognized compensation expense estimated to be recognized over period         2 years 10 months 24 days