Equity Incentive Plans and Stock-Based Compensation - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected dividend yield			0.00%
Incentive Stock Options and Nonqualified Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility		81.10%
Expected volatility, minimum	72.39%		72.10%	78.50%
Expected volatility, maximum	74.79%		77.50%	82.55%
Risk-free interest rate		1.43%
Risk-free interest rate, minimum	0.27%		0.27%	1.43%
Risk-free interest rate, maximum	0.38%		0.82%	2.59%
Underlying common stock fair value		$ 7.08
Incentive Stock Options and Nonqualified Stock Options | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years 3 months 3 days	5 years 9 months 29 days	5 years 3 months 3 days	5 years
Underlying common stock fair value	$ 21.54		$ 6.22	$ 5.15
Incentive Stock Options and Nonqualified Stock Options | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 21 days	6 years 9 months	6 years 29 days
Underlying common stock fair value	$ 24.64		$ 24.64	$ 7.08