Annual report pursuant to Section 13 and 15(d)

Income Taxes - Additional Information (Details)

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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Disclosure [Line Items]      
Valuation allowance $ 11,814 $ 8,088 $ 7,753
Change in valuation allowance   3,726 335
Deferred income tax assets $ 12,862 8,466  
Federal credits begin to expire 2020    
Unrecognized tax benefits accounted for as a reduction in deferred tax assets $ 5,284    
Unrecognized tax benefits would affect the effective tax rate if recognized 1,615    
Unrecognized tax benefits 6,900 5,957 1,347
Accrued interest and penalties related to unrecognized tax benefits 229 58  
Accrued liability for Interest and penalties related to unrecognized tax benefits 356 126  
Federal      
Income Tax Disclosure [Line Items]      
Research and development tax credit 632 467  
California      
Income Tax Disclosure [Line Items]      
Research and development tax credit 117 91  
Expire Beginning in 2020      
Income Tax Disclosure [Line Items]      
Net operating loss carryovers 24,367    
Federal      
Income Tax Disclosure [Line Items]      
Net operating loss carryovers 42,415 24,411 $ 18,048
State      
Income Tax Disclosure [Line Items]      
Net operating loss carryovers $ 11,492 $ 9,580