Consolidated Statements of Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Common stock	Additional paid-in capital	Accumulated other comprehensive loss	Accumulated deficit	Cumulative Effect Period of Adoption Adjustment	Cumulative Effect Period of Adoption Adjustment Accumulated deficit
Beginning Balance, Stockholders' equity at Dec. 31, 2021	$ 131,907	$ 27	$ 223,336	$ (4,457)	$ (86,999)	$ (401)	$ (401)
Beginning Balances, Stockholders' equity (in shares) at Dec. 31, 2021		27,505
Issuance of common stock in public offering, net of issuance costs	30,774	$ 3	30,771
Issuance of common stock in public offering, net of issuance costs (in shares)		2,884
Issuance of common stock upon vesting of restricted stock units, exercise of stock options and employee stock plan purchases, net of shares withheld for taxes	1,975		1,975
Issuance of common stock upon vesting of restricted stock units, exercise of stock options and employee stock plan purchases, net of shares withheld for taxes (in shares)		579
Stock-based compensation	15,802		15,802
Net loss	(41,270)				(41,270)
Subsidiary dissolution	(68)			(68)
Other comprehensive loss	(137)			(137)
Ending Balances, Stockholders' equity at Dec. 31, 2022	$ 138,582	$ 30	271,884	(4,662)	(128,670)
Ending Balances, Stockholders' equity (in shares) at Dec. 31, 2022	30,968	30,968
Accounting Standards Update [Extensible Enumeration]	Cumulative effect of ASC 326 adoption
Issuance of common stock upon vesting of restricted stock units, exercise of stock options and employee stock plan purchases, net of shares withheld for taxes	$ (101)	$ 1	(102)
Issuance of common stock upon vesting of restricted stock units, exercise of stock options and employee stock plan purchases, net of shares withheld for taxes (in shares)		1,154
Issuance of warrants	7,238		7,238
Stock-based compensation	15,843		15,843
Net loss	(135,218)				(135,218)
Other comprehensive loss	(3,785)			(3,785)
Ending Balances, Stockholders' equity at Dec. 31, 2023	$ 22,559	$ 31	$ 294,863	$ (8,447)	$ (263,888)
Ending Balances, Stockholders' equity (in shares) at Dec. 31, 2023	32,122	32,122