Funding Arrangements - Additional Information (Details) - Grant - USD ($) $ in Millions	1 Months Ended	3 Months Ended		9 Months Ended
	Jun. 30, 2017	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Research And Development Arrangement Contract To Perform For Others [Line Items]
Research grant, description and terms				In June 2017, the Company was awarded a Small Business Innovation Research (“SBIR”) grant by the National Institute of Health (“NIH”) in the amount of $3.0 million. This grant is effective from September 15, 2017 to June 30, 2020 and in April 2020, the Company received an extension through June 30, 2021.
Research revenue grant awarded	$ 3.0
Grant revenue received		$ 0.4	$ 0.0	$ 0.7	$ 0.5
Research related income recognized		$ 0.2	$ 0.4	$ 0.6	$ 0.7