Vesting of early exercised stock options Vesting Of Early Exercised Stock Options Vesting of Early Exercised Stock Options Vested (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period Leasehold improvements Leasehold Improvements [Member] Fair Value Hierarchy and NAV [Domain] Fair Value Hierarchy and NAV [Domain] Net loss Net loss Net Income (Loss) Attributable to Parent Entity Emerging Growth Company Entity Emerging Growth Company Short-term investments Aggregate Fair Value Debt Securities, Available-for-sale, Current Preferred stock outstanding (in shares) Preferred Stock, Shares Outstanding Accrued compensation and related expenses Employee-related Liabilities, Current Income Statement Location [Axis] Income Statement Location [Axis] Statistical Measurement [Domain] Statistical Measurement [Domain] Entity Address, Address Line One Entity Address, Address Line One Entity Address, Address Line Two Entity 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[Member] Variable Option One Stock Options Stock options Share-based Payment Arrangement, Option [Member] Fair Value Hierarchy and NAV [Axis] Fair Value Hierarchy and NAV [Axis] Common Stock Common Stock [Member] Interest income Investment Income, Interest Variable Rate [Axis] Variable Rate [Axis] Loss from operations Operating Income (Loss) Property, Plant and Equipment [Table] Property, Plant and Equipment [Table] Allowable prepayment increments per agreement Debt Instrument, Prepayment, Allowable Increments Per Agreement Debt Instrument, Prepayment, Allowable Increments Per Agreement Increase (Decrease) in Stockholders' Equity [Roll Forward] Increase (Decrease) in Stockholders' Equity [Roll Forward] Stock-based compensation Share-based Payment Arrangement, Noncash Expense Variable Rate [Domain] Variable Rate [Domain] Additional Paid-in Capital Additional Paid-in Capital [Member] Cash and cash equivalents Cash and Cash Equivalents, at Carrying Value Depreciation expense Depreciation Long-term Debt, Type [Domain] Long-term Debt, Type [Domain] Accrued liabilities and other Increase (Decrease) in Accrued Liabilities Schedule of Restricted Stock Unit Activity Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] Other income (expense), net Other Nonoperating Income (Expense) Purchases of property and equipment Payments to Acquire Property, Plant, and Equipment Maximum Maximum [Member] Disclosure of Compensation Related Costs, Share-based Payments [Abstract] Share-based Payment Arrangement [Abstract] Rent expense Operating Leases, Rent Expense, Net Loss Contingency, Nature [Domain] Loss Contingency, Nature [Domain] TOTAL LIABILITIES Liabilities First follow-on public offering and secondary offering Follow On Public Offering And Secondary Offering [Member] Follow On Public Offering And Secondary Offering Payments of prepayment penalty and lender fees Payments of prepayment penalty and lender fees Payment for Debt Extinguishment or Debt 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International Non-US [Member] Comprehensive loss Comprehensive Income (Loss), Net of Tax, Attributable to Parent Prepayment premium in year one (percent) Debt Instrument, Prepayment Premium Year One, Percentage Debt Instrument, Prepayment Premium Year One, Percentage Early exercise of stock options, share subject to repurchase (in shares) Share-Based Compensation Arrangement By Share-Based Payment Award, Options, Early Exercise, Common Stock Subject To Repurchase Share-based Compensation Arrangement by Share-based Payment Award, Options, Early Exercise, Common Stock Subject To Repurchase Net cash provided by (used in) financing activities Net Cash Provided by (Used in) Financing Activities Related Party Transaction [Line Items] Related Party Transaction [Line Items] Total marketable securities, Amortized Cost Marketable Securities, Amortized Cost Total amortized cost for marketable securities included in cash equivalents and investments. 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Disclosure [Text Block] Underwriters option Over-Allotment Option [Member] Related Party [Domain] Related Party [Domain] Long-term Debt, Type [Axis] Long-term Debt, Type [Axis] Current Fiscal Year End Date Current Fiscal Year End Date Schedule of Stock Option Activity Share-based Payment Arrangement, Option, Activity [Table Text Block] Basis spread on variable rate Debt Instrument, Basis Spread on Variable Rate Schedule of Anti-dilutive Common Stock Equivalents Excluded from Computation of Diluted Net Loss per Share Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block] Statement of Cash Flows [Abstract] Statement of Cash Flows [Abstract] Realized gain on marketable securities Marketable Securities, Realized Gain (Loss) Common stock warrants Common Stock Warrants [Member] Common Stock Warrants [Member] Purchase commitments related to inventory management and training materials Purchase Obligation Net cash provided by investing activities 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