Consolidated Statements of Redeemable Common Stock, Stock Options, Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income (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, Shares		382,506
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	841	$ 1	840
Shares redeemed for employee tax withholdings, Share		(49,456)
Shares redeemed for employee tax withholdings, Amount	(643)		(643)
Stock-based compensation expense	11,397		11,397
Shares issued for the employee stock purchase plan, Share		92,718
Shares issued for the employee stock purchase plan, Amount	937		937
Issuance of common stock for the public offering net of issuance costs, Shares		475,875
Issuance of common stock for the public offering net of issuance costs, Amount	5,959		5,959
Net income loss	(66,756)				(66,756)
Stockholders' Equity, Ending Balance, Amount at Dec. 31, 2022	$ 89,902	$ 28	636,001	(95)	(546,032)
Stockholders' Equity, Ending Balance, Shares at Dec. 31, 2022	28,268,389	28,268,389
Other comprehensive loss	$ (75)			(75)
Shares issued for the exercise of stock options and vesting of restricted stock units, Shares		1,103,974
Shares issued for the exercise of stock options and vesting of restricted stock units, Amount	8,352	$ 1	8,351
Shares redeemed for employee tax withholdings, Share		(62,068)
Shares redeemed for employee tax withholdings, Amount	(1,423)		(1,423)
Stock-based compensation expense	15,746		15,746
Shares issued for the employee stock purchase plan, Share		87,129
Shares issued for the employee stock purchase plan, Amount	1,121		1,121
Issuance of common stock for the public offering net of issuance costs, Shares		4,600,000
Issuance of common stock for the public offering net of issuance costs, Amount	53,600	$ 5	53,595
Issuance of common stock for at-the-market offerings, net of issuance costs 1, Shares		2,142,089
Issuance of common stock in at-the-market offerings, net of issuance costs1, Amount	41,582	$ 2	41,580
Net income loss	(48,608)				(48,608)
Stockholders' Equity, Ending Balance, Amount at Dec. 31, 2023	$ 160,362	$ 36	$ 754,971	(5)	$ (594,640)
Stockholders' Equity, Ending Balance, Shares at Dec. 31, 2023	36,139,513	36,139,513
Other comprehensive loss	$ (90)			$ (90)