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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 31, 2019
Apr. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
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
Interest expense       $ 0 $ 0 $ 0 $ 15,000  
Frazier Convertible Note Financing | Other Income (Expense)                
Debt Instrument [Line Items]                
Increases (decreases) in fair value of debt instrument       $ 0   $ 0 $ (50,000)  
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            
Proceeds from issuance of unsecured debt   87,800,000            
May 2019 Convertible Note Financing | Common Stock                
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