Condensed Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands | Total | Series A Redeemable Convertible Preferred Stock | Series B Redeemable Convertible Preferred Stock | Series C Redeemable Convertible Preferred Stock | Series D Redeemable Convertible Preferred Stock | Common Stock | Additional Paid-in Capital | Accumulated Deficit |
Beginning balance at Dec. 31, 2018 | $ (57,728) | | | | | $ 6 | $ 1,339 | $ (59,073) |
Beginning balance, shares at Dec. 31, 2018 | | 6,225,719 | 6,786,896 | 3,688,740 | | | | |
Beginning balance at Dec. 31, 2018 | | $ 24,967 | $ 55,151 | $ 37,692 | | | | |
Beginning balance, shares at Dec. 31, 2018 | | | | | | 3,757,403 | | |
Vesting of early exercised stock options | 20 | | | | | | 20 | |
Stock-based compensation expense | 266 | | | | | | 266 | |
Net loss | (13,671) | | | | | | | (13,671) |
Ending balance at Mar. 31, 2019 | (71,113) | | | | | $ 6 | 1,625 | (72,744) |
Ending balance, shares at Mar. 31, 2019 | | 6,225,719 | 6,786,896 | 3,688,740 | | | | |
Ending balance at Mar. 31, 2019 | | $ 24,967 | $ 55,151 | $ 37,692 | | | | |
Ending balance, shares at Mar. 31, 2019 | | | | | | 3,757,403 | | |
Beginning balance at Dec. 31, 2018 | $ (57,728) | | | | | $ 6 | 1,339 | (59,073) |
Beginning balance, shares at Dec. 31, 2018 | | 6,225,719 | 6,786,896 | 3,688,740 | | | | |
Beginning balance at Dec. 31, 2018 | | $ 24,967 | $ 55,151 | $ 37,692 | | | | |
Beginning balance, shares at Dec. 31, 2018 | | | | | | 3,757,403 | | |
Exercise of stock options (in shares) | 280,836 | | | | | | | |
Net loss | $ (35,653) | | | | | | | |
Ending balance at Sep. 30, 2019 | (92,160) | | | | | $ 7 | 2,559 | (94,726) |
Ending balance, shares at Sep. 30, 2019 | | 6,225,719 | 6,786,896 | 3,688,740 | | | | |
Ending balance at Sep. 30, 2019 | | $ 24,967 | $ 55,151 | $ 37,692 | | | | |
Ending balance, shares at Sep. 30, 2019 | | | | | | 4,038,239 | | |
Beginning balance at Mar. 31, 2019 | (71,113) | | | | | $ 6 | 1,625 | (72,744) |
Beginning balance, shares at Mar. 31, 2019 | | 6,225,719 | 6,786,896 | 3,688,740 | | | | |
Beginning balance at Mar. 31, 2019 | | $ 24,967 | $ 55,151 | $ 37,692 | | | | |
Beginning balance, shares at Mar. 31, 2019 | | | | | | 3,757,403 | | |
Exercise of stock options | 2 | | | | | | 2 | |
Exercise of stock options (in shares) | | | | | | 889 | | |
Vesting of early exercised stock options | 20 | | | | | | 20 | |
Stock-based compensation expense | 278 | | | | | | 278 | |
Net loss | (10,665) | | | | | | | (10,665) |
Ending balance at Jun. 30, 2019 | (81,478) | | | | | $ 6 | 1,925 | (83,409) |
Ending balance, shares at Jun. 30, 2019 | | 6,225,719 | 6,786,896 | 3,688,740 | | | | |
Ending balance at Jun. 30, 2019 | | $ 24,967 | $ 55,151 | $ 37,692 | | | | |
Ending balance, shares at Jun. 30, 2019 | | | | | | 3,758,292 | | |
Exercise of stock options | $ 314 | | | | | $ 1 | 313 | |
Exercise of stock options (in shares) | 279,947 | | | | | 220,671 | | |
Issuance of common stock related to early exercised stock options | | | | | | 59,276 | | |
Vesting of early exercised stock options | $ 55 | | | | | | 55 | |
Stock-based compensation expense | 266 | | | | | | 266 | |
Net loss | (11,317) | | | | | | | (11,317) |
Ending balance at Sep. 30, 2019 | (92,160) | | | | | $ 7 | 2,559 | (94,726) |
Ending balance, shares at Sep. 30, 2019 | | 6,225,719 | 6,786,896 | 3,688,740 | | | | |
Ending balance at Sep. 30, 2019 | | $ 24,967 | $ 55,151 | $ 37,692 | | | | |
Ending balance, shares at Sep. 30, 2019 | | | | | | 4,038,239 | | |
Beginning balance at Dec. 31, 2019 | $ (106,373) | | | | | $ 7 | 2,967 | (109,347) |
Beginning balance, shares at Dec. 31, 2019 | 20,390,095 | 6,225,719 | 6,786,896 | 7,377,480 | | | | |
Beginning balance at Dec. 31, 2019 | $ 160,310 | $ 24,967 | $ 55,151 | $ 80,192 | | | | |
Beginning balance, shares at Dec. 31, 2019 | | | | | | 4,059,909 | | |
Exercise of stock options | 49 | | | | | | 49 | |
Exercise of stock options (in shares) | | | | | | 28,837 | | |
Issuance of common stock related to early exercised stock options | | | | | | 14,819 | | |
Vesting of early exercised stock options | 128 | | | | | | 128 | |
Issuance of preferred stock | | | | | $ 109,875 | | | |
Issuance of preferred stock, net of issuance cost (in shares) | | | | | 8,220,242 | | | |
Stock-based compensation expense | 372 | | | | | | 372 | |
Net loss | (27,142) | | | | | | | (27,142) |
Ending balance at Mar. 31, 2020 | (132,966) | | | | | $ 7 | 3,516 | (136,489) |
Ending balance, shares at Mar. 31, 2020 | | 6,225,719 | 6,786,896 | 7,377,480 | 8,220,242 | | | |
Ending balance at Mar. 31, 2020 | | $ 24,967 | $ 55,151 | $ 80,192 | $ 109,875 | | | |
Ending balance, shares at Mar. 31, 2020 | | | | | | 4,103,565 | | |
Beginning balance at Dec. 31, 2019 | $ (106,373) | | | | | $ 7 | 2,967 | (109,347) |
Beginning balance, shares at Dec. 31, 2019 | 20,390,095 | 6,225,719 | 6,786,896 | 7,377,480 | | | | |
Beginning balance at Dec. 31, 2019 | $ 160,310 | $ 24,967 | $ 55,151 | $ 80,192 | | | | |
Beginning balance, shares at Dec. 31, 2019 | | | | | | 4,059,909 | | |
Exercise of stock options (in shares) | 263,626 | | | | | | | |
Net loss | $ (68,480) | | | | | | | |
Ending balance at Sep. 30, 2020 | 364,075 | | | | | $ 54 | 541,848 | (177,827) |
Ending balance, shares at Sep. 30, 2020 | | 0 | 0 | 0 | | | | |
Ending balance, shares at Sep. 30, 2020 | | | | | | 50,949,490 | | |
Beginning balance at Mar. 31, 2020 | (132,966) | | | | | $ 7 | 3,516 | (136,489) |
Beginning balance, shares at Mar. 31, 2020 | | 6,225,719 | 6,786,896 | 7,377,480 | 8,220,242 | | | |
Beginning balance at Mar. 31, 2020 | | $ 24,967 | $ 55,151 | $ 80,192 | $ 109,875 | | | |
Beginning balance, shares at Mar. 31, 2020 | | | | | | 4,103,565 | | |
Conversion of preferred stock | 270,190 | $ (24,967) | $ (55,151) | $ (80,192) | $ (109,879) | $ 29 | 270,161 | |
Conversion of preferred stock (in shares) | | (6,225,719) | (6,786,896) | (7,377,480) | (8,220,242) | | | |
Conversion of preferred stock (in shares) | | | | | | 28,610,337 | | |
Conversion of common stock warrant | | | | | | 30,278 | | |
Conversion of preferred stock warrant | | | | | | 16,591 | | |
Warrant liability write-off | 629 | | | | | | 629 | |
Issuance of common stock upon initial public offering, net of issuance costs of $3,296 | 264,079 | | | | | $ 18 | 264,061 | |
Issuance of common stock upon initial public offering, net of issuance cost (in shares) | | | | | | 17,968,750 | | |
Exercise of stock options | 297 | | | | | | 297 | |
Exercise of stock options (in shares) | | | | | | 152,177 | | |
Vesting of early exercised stock options | 12 | | | | | | 12 | |
Issuance of preferred stock | | | | | $ 4 | | | |
Issuance costs for initial public offering | | | | | | $ (3,296) | | |
Stock-based compensation expense | 1,289 | | | | | | 1,289 | |
Net loss | (20,320) | | | | | | | (20,320) |
Ending balance at Jun. 30, 2020 | 383,210 | | | | | $ 54 | 539,965 | (156,809) |
Ending balance, shares at Jun. 30, 2020 | | | | | | 50,881,698 | | |
Exercise of stock options | $ 108 | | | | | | 108 | |
Exercise of stock options (in shares) | 67,792 | | | | | 67,792 | | |
Vesting of early exercised stock options | $ 9 | | | | | | 9 | |
Issuance costs for initial public offering | (72) | | | | | | (72) | |
Stock-based compensation expense | 1,838 | | | | | | 1,838 | |
Net loss | (21,018) | | | | | | | (21,018) |
Ending balance at Sep. 30, 2020 | $ 364,075 | | | | | $ 54 | $ 541,848 | $ (177,827) |
Ending balance, shares at Sep. 30, 2020 | | 0 | 0 | 0 | | | | |
Ending balance, shares at Sep. 30, 2020 | | | | | | 50,949,490 | | |