Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	6 Months Ended
	Jun. 30, 2020	Dec. 31, 2019	Jun. 30, 2019	Dec. 31, 2018
Summary of Significant Accounting Policies [Line Items]
Cash and cash equivalents	$ 174,821,000	$ 191,157,000	$ 131,400,000	$ 157,147,000
Impairment of long-lived assets	$ 0
ASU 2018-13
Summary of Significant Accounting Policies [Line Items]
Change in Accounting Principle, Accounting Standards Update, Adopted [true false]	true
Change in Accounting Principle, Accounting Standards Update, Adoption Date	Mar. 31, 2020
ASU 2016-13
Summary of Significant Accounting Policies [Line Items]
Change in Accounting Principle, Accounting Standards Update, Adopted [true false]	true
Change in Accounting Principle, Accounting Standards Update, Adoption Date	Dec. 15, 2019
ASU 2019-10
Summary of Significant Accounting Policies [Line Items]
Change in Accounting Principle, Accounting Standards Update, Adoption Date	Jan. 01, 2023
Change in Accounting Principle, Accounting Standards Update, Early Adoption [true false]	true
Change in Accounting Principle, Accounting Standards Update, Immaterial Effect [true false]	true
Loan payment prior to November 13, 2021 | SVB and Hercules Loan Agreement
Summary of Significant Accounting Policies [Line Items]
Success Fee amount	$ 1,000,000.0
Loan payment after November 19, 2021 | SVB and Hercules Loan Agreement
Summary of Significant Accounting Policies [Line Items]
Success Fee amount	$ 2,000,000.0