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Stock-based Compensation Expense - Summary of Stock Option Activity (Details) - 2019 Plan and 2016 Plan - Stock Option - USD ($)
9 Months Ended 12 Months Ended
Sep. 30, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, Beginning balance 2,023,828  
Number of Shares, Granted 1,032,506  
Number of Shares, Exercised (118,281)  
Number of Shares, Cancelled (69,360)  
Number of Shares, Outstanding, Ending balance 2,868,693 2,023,828
Number of Shares, Exercisable 733,937  
Weighted Average Exercise Price, Outstanding, Beginning balance $ 9.31  
Weighted Average Exercise Price, Granted 15.73  
Weighted Average Exercise Price, Exercised 7.59  
Weighted Average Exercise Price, Cancelled 12.23  
Weighted Average Exercise Price, Outstanding, Ending balance 11.62 $ 9.31
Weighted Average Exercise Price, Exercisable $ 10.16  
Weighted Average Remaining Contractual Term (in years), Outstanding 8 years 8 months 23 days 8 years 11 months 8 days
Weighted Average Remaining Contractual Term (in years), Exercisable 8 years 4 months 28 days  
Aggregate Intrinsic Value, Outstanding $ 425,192 $ 2,730,209
Aggregate Intrinsic Value, Exercisable $ 181,578