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Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) - 2015 Equity and 2020 Incentive Plan - Incentive Stock Options and Nonqualified Stock Options - USD ($)
9 Months Ended 12 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options, Outstanding, Beginning balance 1,337,501 113,174 113,174  
Number of Options, Granted 1,567,198 1,220,104    
Number of Options, Exercised (82,454) (28,714)    
Number of Options, Forfeited (13,768) (4,458)    
Number of Options, Outstanding, Ending balance 2,808,477 1,300,106 1,337,501 113,174
Number of Options, Exercisable 629,988 118,835    
Number of Options, Vested and expected to vest 2,808,477 1,300,106    
Weighted- Average Exercise Price per Share, Outstanding, Beginning balance $ 3.22 $ 2.08 $ 2.08  
Weighted- Average Exercise Price per Share, Granted 9.26 3.08    
Weighted- Average Exercise Price per Share, Exercised 2.49 5.08    
Weighted- Average Exercise Price per Share, Forfeited 5.67 2.08    
Weighted- Average Exercise Price per Share, Outstanding, Ending balance 6.60 2.94 $ 3.22 $ 2.08
Weighted- Average Exercise Price per Share, Exercisable 4.02 2.15    
Weighted- Average Exercise Price per Share, Vested and expected to vest $ 6.60 $ 2.94    
Weighted- Average Remaining Contractual Term (in Years), Outstanding 9 years 18 days 9 years 4 months 13 days 9 years 2 months 4 days 9 years 9 months 7 days
Weighted- Average Remaining Contractual Term (in Years), Exercisable 8 years 7 months 6 days 9 years 3 months 18 days    
Weighted- Average Remaining Contractual Term (in Years), Vested and expected to vest 9 years 18 days 9 years 4 months 13 days    
Aggregate Intrinsic Value, Outstanding balance $ 45,033 $ 5,385 $ 5,157 $ 348
Aggregate Intrinsic Value, Exercisable 11,750 585    
Aggregate Intrinsic Value, Vested and expected to vest $ 45,033 $ 5,385