Share-Based Compensation - Summary of Common Stock Reserved for Future Issuance (Details)	Sep. 30, 2020 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	5,355,893
Common Stock Options Granted and Outstanding
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	3,564,980
Reserved for Future Equity Award Grants
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	1,495,314
Reserved for Future ESPP Issuances
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	295,599