Leases - Summary of Components of Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Leases [Abstract]
Operating lease cost	$ 568	$ 565	$ 1,706	$ 1,465
Variable lease cost	214	187	577	464
Total lease cost	$ 782	$ 752	$ 2,283	$ 1,929
Weighted-average remaining lease term	5 years 1 month 6 days	6 years 1 month 6 days	5 years 1 month 6 days	6 years 1 month 6 days
Weighted-average discount rate	9.50%	9.50%	9.50%	9.17%