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Convertible Promissory Notes - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Oct. 29, 2019
May 07, 2019
Apr. 30, 2019
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Dec. 31, 2018
Frazier Convertible Note Financing                
Debt Instrument [Line Items]                
Aggregate amount of debt instrument     $ 2,400,000          
Debt instrument issued, amount     $ 500,000         $ 1,900,000
Increases (decreases) in fair value of debt instrument         $ 18,000 $ (50,000) $ 22,000  
Interest expense       $ 0 $ 4,000 15,000 $ 8,000  
Frazier Convertible Note Financing | Minimum                
Debt Instrument [Line Items]                
Debt instrument, interest rate percentage     1.68%          
Frazier Convertible Note Financing | Maximum                
Debt Instrument [Line Items]                
Debt instrument, interest rate percentage     2.55%          
May 2019 Convertible Note Financing                
Debt Instrument [Line Items]                
Aggregate amount of debt instrument   $ 90,300,000            
Debt instrument, interest rate percentage   6.00%            
Fair value of convertible promissory notes   $ 2,400,000            
Interest expense       1,400,000   2,200,000    
Proceeds from issuance of unsecured debt   $ 87,800,000            
Debt instrument maturity date   May 07, 2020            
Debt instrument due and payable date   May 07, 2022            
Debt instrument conversion base amount to calculate to cap price per share   $ 500,000,000            
Debt instrument principal amount       90,300,000   90,300,000    
Debt instrument accrued interest       2,200,000   2,200,000    
May 2019 Convertible Note Financing | Other Income (Expense)                
Debt Instrument [Line Items]                
Increases (decreases) in fair value of debt instrument       $ 2,500,000   $ 4,900,000    
May 2019 Convertible Note Financing | Common Stock | Subsequent Event                
Debt Instrument [Line Items]                
Debt instrument conversion, shares issued 6,107,918              
May 2019 Convertible Note Financing | Frazier                
Debt Instrument [Line Items]                
Debt instrument purchased amount   $ 20,000,000            
May 2019 Convertible Note Financing | Minimum                
Debt Instrument [Line Items]                
Minimum percentage of outstanding principal payable at maturity date   60.00%            
May 2019 Convertible Note Financing | Maximum                
Debt Instrument [Line Items]                
Qualified equity financing conversion price percentage per share   80.00%            
Non-qualified equity financing conversion price percentage per share   80.00%            
Initial public offering conversion price percentage per share   80.00%