Condensed Consolidated Statements of Stockholders' Equity (Unaudited) - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit
Stockholders' Equity, Beginning Balance, Amount at Dec. 31, 2021	$ 138,242	$ 27	$ 617,511	$ (20)	$ (479,276)
Stockholders' Equity, Beginning Balance, Shares at Dec. 31, 2021		27,366,746
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	308		308
Shares issued for the exercise of stock options and vesting of restricted stock units, Shares		145,922
Shares redeemed for employee tax withholdings, Amount	(362)		(362)
Shares redeemed for employee tax withholdings, Shares		(26,983)
Stock-based compensation expense	2,649		2,649
Unrealized loss on short-term investments and cash equivalents, net of tax	(74)			(74)
Foreign currency translation adjustment	(4)			(4)
Net loss	(17,596)				(17,596)
Stockholders' Equity, Ending Balance, Amount at Mar. 31, 2022	123,163	$ 27	620,106	(98)	(496,872)
Stockholders' Equity, Ending Balance, Shares at Mar. 31, 2022		27,485,685
Stockholders' Equity, Beginning Balance, Amount at Dec. 31, 2021	138,242	$ 27	617,511	(20)	(479,276)
Stockholders' Equity, Beginning Balance, Shares at Dec. 31, 2021		27,366,746
Unrealized loss on short-term investments and cash equivalents, net of tax	(95)
Net loss	(51,146)
Stockholders' Equity, Ending Balance, Amount at Sep. 30, 2022	95,959	$ 28	626,491	(138)	(530,422)
Stockholders' Equity, Ending Balance, Shares at Sep. 30, 2022		27,719,132
Stockholders' Equity, Beginning Balance, Amount at Mar. 31, 2022	123,163	$ 27	620,106	(98)	(496,872)
Stockholders' Equity, Beginning Balance, Shares at Mar. 31, 2022		27,485,685
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	277		277
Shares issued for the exercise of stock options and vesting of restricted stock units, Shares		99,743
Stock-based compensation expense	2,904		2,904
Shares issued for the employee stock purchase plan, Amount	459		459
Shares issued for the employee stock purchase plan, Shares		46,051
Unrealized loss on short-term investments and cash equivalents, net of tax	(76)			(76)
Foreign currency translation adjustment	(9)			(9)
Net loss	(16,732)				(16,732)
Stockholders' Equity, Ending Balance, Amount at Jun. 30, 2022	109,986	$ 27	623,746	(183)	(513,604)
Stockholders' Equity, Ending Balance, Shares at Jun. 30, 2022		27,631,479
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	145	$ 1	144
Shares issued for the exercise of stock options and vesting of restricted stock units, Shares		110,126
Shares redeemed for employee tax withholdings, Amount	(281)		(281)
Shares redeemed for employee tax withholdings, Shares		(22,473)
Stock-based compensation expense	2,882		2,882
Unrealized loss on short-term investments and cash equivalents, net of tax	55			55
Foreign currency translation adjustment	(10)			10
Net loss	(16,818)				(16,818)
Stockholders' Equity, Ending Balance, Amount at Sep. 30, 2022	95,959	$ 28	626,491	(138)	(530,422)
Stockholders' Equity, Ending Balance, Shares at Sep. 30, 2022		27,719,132
Stockholders' Equity, Beginning Balance, Amount at Dec. 31, 2022	$ 89,902	$ 28	636,001	(95)	(546,032)
Stockholders' Equity, Beginning Balance, Shares at Dec. 31, 2022	28,268,389	28,268,389
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	$ 761		761
Shares issued for the exercise of stock options and vesting of restricted stock units, Shares		243,598
Shares redeemed for employee tax withholdings, Amount	(337)		(337)
Shares redeemed for employee tax withholdings, Shares		(24,631)
Stock-based compensation expense	3,295		3,295
Issuance of common stock for public offering, net of underwriting discounts, commissions and offering costs, Amount	53,600	$ 5	53,595
Issuance of common stock for public offering, net of underwriting discounts, commissions and offering costs, Shares		4,600,000
Issuance of common stock for at-the-market offerings, net of issuance costs, Amount	10,914	$ 1	10,913
Issuance of common stock for at-the-market offerings, net of issuance costs, Shares		879,341
Unrealized loss on short-term investments and cash equivalents, net of tax	84			84
Foreign currency translation adjustment	2			2
Net loss	(13,212)				(13,212)
Stockholders' Equity, Ending Balance, Amount at Mar. 31, 2023	145,009	$ 34	704,228	(9)	(559,244)
Stockholders' Equity, Ending Balance, Shares at Mar. 31, 2023		33,966,697
Stockholders' Equity, Beginning Balance, Amount at Dec. 31, 2022	$ 89,902	$ 28	636,001	(95)	(546,032)
Stockholders' Equity, Beginning Balance, Shares at Dec. 31, 2022	28,268,389	28,268,389
Unrealized loss on short-term investments and cash equivalents, net of tax	$ 38
Net loss	(39,431)
Stockholders' Equity, Ending Balance, Amount at Sep. 30, 2023	$ 161,479	$ 36	746,966	(60)	(585,463)
Stockholders' Equity, Ending Balance, Shares at Sep. 30, 2023	35,847,685	35,847,685
Stockholders' Equity, Beginning Balance, Amount at Mar. 31, 2023	$ 145,009	$ 34	704,228	(9)	(559,244)
Stockholders' Equity, Beginning Balance, Shares at Mar. 31, 2023		33,966,697
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	2,599		2,599
Shares issued for the exercise of stock options and vesting of restricted stock units, Shares		316,092
Stock-based compensation expense	3,955		3,955
Shares issued for the employee stock purchase plan, Amount	536		536
Shares issued for the employee stock purchase plan, Shares		50,504
Issuance of common stock for at-the-market offerings, net of issuance costs, Amount	18,957	$ 1	18,956
Issuance of common stock for at-the-market offerings, net of issuance costs, Shares		834,748
Unrealized loss on short-term investments and cash equivalents, net of tax	(65)			(65)
Foreign currency translation adjustment	1			1
Net loss	(13,804)				(13,804)
Stockholders' Equity, Ending Balance, Amount at Jun. 30, 2023	157,188	$ 35	730,274	(73)	(573,048)
Stockholders' Equity, Ending Balance, Shares at Jun. 30, 2023		35,168,041
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	1,994		1,994
Shares issued for the exercise of stock options and vesting of restricted stock units, Shares		289,010
Shares redeemed for employee tax withholdings, Amount	(1,084)		(1,084)
Shares redeemed for employee tax withholdings, Shares		(37,366)
Stock-based compensation expense	4,071		4,071
Issuance of common stock for at-the-market offerings, net of issuance costs, Amount	11,712	$ 1	11,711
Issuance of common stock for at-the-market offerings, net of issuance costs, Shares		428,000
Unrealized loss on short-term investments and cash equivalents, net of tax	19			(19)
Foreign currency translation adjustment	(6)			(6)
Net loss	(12,415)				(12,415)
Stockholders' Equity, Ending Balance, Amount at Sep. 30, 2023	$ 161,479	$ 36	$ 746,966	$ (60)	$ (585,463)
Stockholders' Equity, Ending Balance, Shares at Sep. 30, 2023	35,847,685	35,847,685