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Stock-Based Compensation - Summary of Activity under Plans (Details) - 2015 and 2019 Plans
9 Months Ended 12 Months Ended
Sep. 30, 2020
$ / shares
shares
Dec. 31, 2019
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options, Shares available for Grant, Beginning balance 1,036,746  
Outstanding Options, Shares available for Grant, Additional shares authorized 813,578  
Outstanding Options, Shares available for Grant, Options granted (1,205,926)  
Outstanding Options, Shares available for Grant, Options repurchased 10,518  
Outstanding Options, Shares available for Grant, Options canceled 356,997  
Outstanding Options, Shares available for Grant, Ending balance 1,011,913 1,036,746
Outstanding Options, Shares, Beginning balance 1,962,332  
Outstanding Options, Shares, Options granted 1,205,926  
Outstanding Options, Shares, Options exercised (218,724)  
Outstanding Options, Shares, Options canceled (356,997)  
Outstanding Options, Shares, Ending balance 2,592,537 1,962,332
Outstanding Options, Shares, Exercisable 755,278  
Outstanding Options, Shares, Vested and expected to vest 2,592,537  
Outstanding Options, Weighted-Average Exercise Price, Beginning balance | $ / shares $ 6.03  
Outstanding Options, Weighted-Average Exercise Price, Options granted | $ / shares 8.29  
Outstanding Options, Weighted-Average Exercise Price, Options exercised | $ / shares 4.70  
Outstanding Options, Weighted-Average Exercise Price, Options repurchased | $ / shares 1.08  
Outstanding Options, Weighted-Average Exercise Price, Options canceled | $ / shares 6.52  
Outstanding Options, Weighted-Average Exercise Price, Ending balance | $ / shares 7.13 $ 6.03
Outstanding Options, Weighted-Average Exercise Price, Exercisable | $ / shares 5.64  
Outstanding Options, Weighted-Average Exercise Price, Vested and expected to vest | $ / shares $ 7.13  
Outstanding Options, Weighted Average Remaining Contractual Term (Years) 8 years 6 months 25 days 8 years 7 months 17 days
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Exercisable 7 years 8 months 12 days  
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Vested and expected to vest 8 years 6 months 25 days