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Convertible Preferred Stock and Stockholders' Equity - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2020
Mar. 31, 2019
Nov. 30, 2018
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Preferred stock issued 95,982,862     95,982,862   95,982,862   72,416,431
Net proceeds from issuance of shares           $ 33,638,000 $ 22,898,000  
Dividends declared $ 0              
Granted options           608,185 681,950 1,009,125
Weighted Average Exercise Price, Exercised           $ 1.11 $ 2.02 $ 1.04
Weighted-average grant date fair values of options granted       $ 2.25 $ 1.50 $ 2.25 $ 1.50  
Aggregate intrinsic value of stock options exercised       $ 200,000 $ 100,000 $ 200,000 $ 100,000  
Total unrecognized compensation cost related to outstanding employee awards $ 2,500,000     $ 2,500,000   $ 2,500,000    
Total unrecognized compensation cost related to outstanding employee awards, expected to be recognized over a weighted-average period           2 years 9 months 18 days    
2017 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of shares of common stock remain available for future issuance 426,065     426,065   426,065   1,025,425
Maximum | 2017 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of shares of common stock reserved for issuance 2,730,496     2,730,496   2,730,496   2,730,496
Series A-2 Convertible Preferred Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Preferred stock issued 47,132,862 16,083,916 7,482,515 47,132,862   47,132,862   23,566,431
Shares issued, price per share $ 1.43 $ 1.43 $ 1.43 $ 1.43   $ 1.43    
Net proceeds from issuance of shares $ 33,600,000 $ 22,900,000 $ 10,400,000          
Shares available for issuance to investors   23,566,431            
Shares available for issuance, price per share   $ 1.43            
Additional shares issued 23,566,431     23,566,431   23,566,431    
Series A-2 Convertible Preferred Stock | Maximum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Preferred stock issued     47,132,862