Condensed Consolidated Statements of Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands | Total | Open Market Sales Agreement [Member] | IPO [Member] | Common Stock [Member] | Common Stock [Member]Open Market Sales Agreement [Member] | Common Stock [Member]IPO [Member] | Additional Paid-in Capital [Member] | Additional Paid-in Capital [Member]Open Market Sales Agreement [Member] | Additional Paid-in Capital [Member]IPO [Member] | Accumulated Other Comprehensive Gain (Loss) [Member] | Accumulated Deficit [Member] |
Beginning balance at Dec. 31, 2018 | $ 104,158 | | | $ 3 | | | $ 337,992 | | | | $ (233,837) |
Beginning balance, shares at Dec. 31, 2018 | | | | 25,803,135 | | | | | | | |
Stock-based compensation expense | 1,313 | | | | | | 1,313 | | | | |
Vesting of common stock issued upon early exercise of unvested options, shares | | | | 85 | | | | | | | |
Stock option exercises | 21 | | | | | | 21 | | | | |
Stock option exercises, shares | | | | 3,754 | | | | | | | |
Unrealized gain (loss) on marketable securities | 9 | | | | | | | | | $ 9 | |
Net loss | (19,426) | | | | | | | | | | (19,426) |
Ending balance at Mar. 31, 2019 | 86,075 | | | $ 3 | | | 339,326 | | | 9 | (253,263) |
Ending balance, shares at Mar. 31, 2019 | | | | 25,806,974 | | | | | | | |
Beginning balance at Dec. 31, 2018 | 104,158 | | | $ 3 | | | 337,992 | | | | (233,837) |
Beginning balance, shares at Dec. 31, 2018 | | | | 25,803,135 | | | | | | | |
Net loss | (61,342) | | | | | | | | | | |
Ending balance at Sep. 30, 2019 | 48,152 | | | $ 3 | | | 343,327 | | | 1 | (295,179) |
Ending balance, shares at Sep. 30, 2019 | | | | 25,866,547 | | | | | | | |
Beginning balance at Dec. 31, 2018 | 104,158 | | | $ 3 | | | 337,992 | | | | (233,837) |
Beginning balance, shares at Dec. 31, 2018 | | | | 25,803,135 | | | | | | | |
Net loss | (85,600) | | | | | | | | | | |
Ending balance at Dec. 31, 2019 | 337,584 | | | $ 4 | | | 656,973 | | | (6) | (319,387) |
Ending balance, shares at Dec. 31, 2019 | | | | 41,719,039 | | | | | | | |
Beginning balance at Mar. 31, 2019 | 86,075 | | | $ 3 | | | 339,326 | | | 9 | (253,263) |
Beginning balance, shares at Mar. 31, 2019 | | | | 25,806,974 | | | | | | | |
Stock-based compensation expense | 1,797 | | | | | | 1,797 | | | | |
Vesting of common stock issued upon early exercise of unvested options, shares | | | | 85 | | | | | | | |
Stock option exercises | 77 | | | | | | 77 | | | | |
Stock option exercises, shares | | | | 12,364 | | | | | | | |
Unrealized gain (loss) on marketable securities | 2 | | | | | | | | | 2 | |
Net loss | (20,767) | | | | | | | | | | (20,767) |
Ending balance at Jun. 30, 2019 | 67,184 | | | $ 3 | | | 341,200 | | | 11 | (274,030) |
Ending balance, shares at Jun. 30, 2019 | | | | 25,819,423 | | | | | | | |
Issuance of stock, net of issuance costs | | $ 145 | | | | | | $ 145 | | | |
Issuance of stock, net of issuance costs, shares | | | | | 39,506 | | | | | | |
Stock-based compensation expense | 1,948 | | | | | | 1,948 | | | | |
Vesting of common stock issued upon early exercise of unvested options, shares | | | | 85 | | | | | | | |
Stock option exercises | 34 | | | | | | 34 | | | | |
Stock option exercises, shares | | | | 7,533 | | | | | | | |
Unrealized gain (loss) on marketable securities | (10) | | | | | | | | | (10) | |
Net loss | (21,149) | | | | | | | | | | (21,149) |
Ending balance at Sep. 30, 2019 | 48,152 | | | $ 3 | | | 343,327 | | | 1 | (295,179) |
Ending balance, shares at Sep. 30, 2019 | | | | 25,866,547 | | | | | | | |
Beginning balance at Dec. 31, 2019 | 337,584 | | | $ 4 | | | 656,973 | | | (6) | (319,387) |
Beginning balance, shares at Dec. 31, 2019 | | | | 41,719,039 | | | | | | | |
Stock-based compensation expense | 2,559 | | | | | | 2,559 | | | | |
Stock option exercises | 911 | | | | | | 911 | | | | |
Stock option exercises, shares | | | | 103,025 | | | | | | | |
Unrealized gain (loss) on marketable securities | (84) | | | | | | | | | (84) | |
Net loss | (25,444) | | | | | | | | | | (25,444) |
Ending balance at Mar. 31, 2020 | 315,526 | | | $ 4 | | | 660,443 | | | (90) | (344,831) |
Ending balance, shares at Mar. 31, 2020 | | | | 41,822,064 | | | | | | | |
Beginning balance at Dec. 31, 2019 | 337,584 | | | $ 4 | | | 656,973 | | | (6) | (319,387) |
Beginning balance, shares at Dec. 31, 2019 | | | | 41,719,039 | | | | | | | |
Net loss | (88,973) | | | | | | | | | | |
Ending balance at Sep. 30, 2020 | 442,770 | | | $ 5 | | | 850,991 | | | 134 | (408,360) |
Ending balance, shares at Sep. 30, 2020 | | | | 47,573,249 | | | | | | | |
Beginning balance at Mar. 31, 2020 | 315,526 | | | $ 4 | | | 660,443 | | | (90) | (344,831) |
Beginning balance, shares at Mar. 31, 2020 | | | | 41,822,064 | | | | | | | |
Issuance of stock, net of issuance costs | | | $ 180,727 | | | $ 1 | | | $ 180,726 | | |
Issuance of stock, net of issuance costs, shares | | | | | | 5,500,000 | | | | | |
Stock-based compensation expense | 3,635 | | | | | | 3,635 | | | | |
Stock option exercises | 1,501 | | | | | | 1,501 | | | | |
Stock option exercises, shares | | | | 177,968 | | | | | | | |
Unrealized gain (loss) on marketable securities | 345 | | | | | | | | | 345 | |
Net loss | (29,753) | | | | | | | | | | (29,753) |
Ending balance at Jun. 30, 2020 | 471,981 | | | $ 5 | | | 846,305 | | | 255 | (374,584) |
Ending balance, shares at Jun. 30, 2020 | | | | 47,500,032 | | | | | | | |
Stock-based compensation expense | 4,219 | | | | | | 4,219 | | | | |
Stock option exercises | 467 | | | | | | 467 | | | | |
Stock option exercises, shares | | | | 73,217 | | | | | | | |
Unrealized gain (loss) on marketable securities | (121) | | | | | | | | | (121) | |
Net loss | (33,776) | | | | | | | | | | (33,776) |
Ending balance at Sep. 30, 2020 | $ 442,770 | | | $ 5 | | | $ 850,991 | | | $ 134 | $ (408,360) |
Ending balance, shares at Sep. 30, 2020 | | | | 47,573,249 | | | | | | | |