Unaudited Condensed Consolidated Statements of Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Common stock	Additional paid-in capital	Accumulated other comprehensive loss	Accumulated deficit
Beginning Balance, Stockholders' equity at Dec. 31, 2019	$ 106,548	$ 21	$ 139,700	$ (3,939)	$ (29,234)
Beginning Balances, Stockholders' equity (in shares) at Dec. 31, 2019		21,419
Exercise of stock awards and employee stock plan purchases	709		709
Exercise of stock awards and employee stock plan purchases (in shares)		94
Stock-based compensation	782		782
Net income (loss)	(8,771)				(8,771)
Other comprehensive loss	(1,979)			(1,979)
Ending Balances, Stockholders' equity at Mar. 31, 2020	97,289	$ 21	141,191	(5,918)	(38,005)
Ending Balances, Stockholders' equity (in shares) at Mar. 31, 2020		21,513
Beginning Balance, Stockholders' equity at Dec. 31, 2019	106,548	$ 21	139,700	(3,939)	(29,234)
Beginning Balances, Stockholders' equity (in shares) at Dec. 31, 2019		21,419
Net income (loss)	(9,042)
Ending Balances, Stockholders' equity at Sep. 30, 2020	100,845	$ 22	144,272	(5,173)	(38,276)
Ending Balances, Stockholders' equity (in shares) at Sep. 30, 2020		21,622
Beginning Balance, Stockholders' equity at Mar. 31, 2020	97,289	$ 21	141,191	(5,918)	(38,005)
Beginning Balances, Stockholders' equity (in shares) at Mar. 31, 2020		21,513
Exercise of stock awards and employee stock plan purchases	284		284
Exercise of stock awards and employee stock plan purchases (in shares)		46
Stock-based compensation	868		868
Net income (loss)	(156)				(156)
Other comprehensive loss	(367)			(367)
Ending Balances, Stockholders' equity at Jun. 30, 2020	97,918	$ 21	142,343	(6,285)	(38,161)
Ending Balances, Stockholders' equity (in shares) at Jun. 30, 2020		21,559
Exercise of stock awards and employee stock plan purchases	270	$ 1	269
Exercise of stock awards and employee stock plan purchases (in shares)		63
Stock-based compensation	1,660		1,660
Net income (loss)	(115)				(115)
Other comprehensive loss	1,112			1,112
Ending Balances, Stockholders' equity at Sep. 30, 2020	100,845	$ 22	144,272	(5,173)	(38,276)
Ending Balances, Stockholders' equity (in shares) at Sep. 30, 2020		21,622
Beginning Balance, Stockholders' equity at Dec. 31, 2020	$ 93,579	$ 22	147,997	(2,124)	(52,316)
Beginning Balances, Stockholders' equity (in shares) at Dec. 31, 2020	21,958	21,958
Issuance of common stock in public offering, net of issuance costs	$ 59,525	$ 5	59,520
Issuance of common stock in public offering, net of issuance costs (in shares)		4,600
Exercise of stock awards and employee stock plan purchases	2,569		2,569
Exercise of stock awards and employee stock plan purchases (in shares)		325
Stock-based compensation	1,352		1,352
Net income (loss)	(23,225)				(23,225)
Other comprehensive loss	(2,298)			(2,298)
Ending Balances, Stockholders' equity at Mar. 31, 2021	131,502	$ 27	211,438	(4,422)	(75,541)
Ending Balances, Stockholders' equity (in shares) at Mar. 31, 2021		26,883
Beginning Balance, Stockholders' equity at Dec. 31, 2020	$ 93,579	$ 22	147,997	(2,124)	(52,316)
Beginning Balances, Stockholders' equity (in shares) at Dec. 31, 2020	21,958	21,958
Net income (loss)	$ (32,400)
Ending Balances, Stockholders' equity at Sep. 30, 2021	$ 127,748	$ 27	218,596	(6,159)	(84,716)
Ending Balances, Stockholders' equity (in shares) at Sep. 30, 2021	27,207	27,207
Beginning Balance, Stockholders' equity at Mar. 31, 2021	$ 131,502	$ 27	211,438	(4,422)	(75,541)
Beginning Balances, Stockholders' equity (in shares) at Mar. 31, 2021		26,883
Exercise of stock awards and employee stock plan purchases	1,967		1,967
Exercise of stock awards and employee stock plan purchases (in shares)		309
Stock-based compensation	1,994		1,994
Net income (loss)	(3,279)				(3,279)
Other comprehensive loss	299			299
Ending Balances, Stockholders' equity at Jun. 30, 2021	132,483	$ 27	215,399	(4,123)	(78,820)
Ending Balances, Stockholders' equity (in shares) at Jun. 30, 2021		27,192
Exercise of stock awards and employee stock plan purchases	93		93
Exercise of stock awards and employee stock plan purchases (in shares)		15
Stock-based compensation	3,104		3,104
Net income (loss)	(5,896)				(5,896)
Other comprehensive loss	(2,036)			(2,036)
Ending Balances, Stockholders' equity at Sep. 30, 2021	$ 127,748	$ 27	$ 218,596	$ (6,159)	$ (84,716)
Ending Balances, Stockholders' equity (in shares) at Sep. 30, 2021	27,207	27,207