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Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 9 Months Ended
May 31, 2020
Sep. 30, 2020
Sep. 30, 2019
Mar. 31, 2020
Dec. 31, 2019
Jan. 31, 2019
Jul. 31, 2018
Aug. 31, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Total shares reserved for future issuance   7,416,476     20,346,844      
Two Thousand And Twenty Stock Options And Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock shares outstanding percentage 5.00%              
Total shares reserved for future issuance   3,900,000            
Exercise price as a percentage of estimated grant date fair value of shares   10.00%            
Expiration period from date of grant   5 years            
2015 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Total shares reserved for future issuance       1,400,000 567,110 400,000 1,000,000  
Exercise price as a percentage of estimated grant date fair value of shares   10.00%            
Expiration period from date of grant   5 years            
Number of remaining shares reserved for issuance   2,500,000            
Restricted Common Stock Awards                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting rights   The repurchase price for unvested shares of common stock will be the lower of (i) the fair market value on the date of repurchase or (ii) their original purchase price.            
Number of shares granted   0 0          
Restricted Common Stock Awards | Accrued Expenses and Other Liabilities                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Accrued expenses and other liabilities   $ 13,000     $ 22,000      
Maximum | Two Thousand And Twenty Stock Options And Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Options under plan may be granted for periods   10 years            
Exercise price as a percentage of estimated grant date fair value of shares   110.00%            
Maximum | 2015 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Exercise price as a percentage of estimated grant date fair value of shares   110.00%            
Options under plan could be granted for periods   10 years            
Percentage of estimated fair value of shares on date of grant   100.00%            
Maximum | Restricted Common Stock Awards                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period   4 years            
Minimum [Member] | Restricted Common Stock Awards                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period   1 year            
Common Stock | Maximum | Two Thousand And Twenty Stock Options And Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Shares authorized for future grant 4,200,000              
Common Stock | Maximum | 2015 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Shares authorized for future grant               1,500,000