Consolidated Statements of Changes in Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Cumulative-effect Adjustment from Adoption of ASU 2020-06	Common Stock	Additional Paid-In Capital	Additional Paid-In Capital Cumulative-effect Adjustment from Adoption of ASU 2020-06	Accumulated Deficit	Accumulated Deficit Cumulative-effect Adjustment from Adoption of ASU 2020-06	Accumulated Other Comprehensive Income (loss)
Beginning balance at Dec. 31, 2020	$ 109,119	$ (29,301)	$ 23	$ 423,759	$ (32,743)	$ (314,666)	$ 3,442	$ 3
Beginning balance, shares at Dec. 31, 2020			23,350
Issuance of common stock	17,648		$ 2	17,646
Issuance of common stock, shares			1,387
Stock-based compensation	40,498			40,498
Induced conversion on 2019 Notes (Note 8)	(97,738)			(97,738)
Net loss	(51,260)					(51,260)
Other comprehensive loss	(42)							(42)
Ending balance at Dec. 31, 2021	(11,076)		$ 25	351,422		(362,484)		(39)
Ending balance, shares at Dec. 31, 2021			24,737
Issuance of common stock	15,416		$ 1	15,415
Issuance of common stock, shares			1,361
Stock-based compensation	42,443			42,443
Induced conversion on 2019 Notes (Note 8)	(5,681)			(5,681)
Net loss	(24,301)					(24,301)
Other comprehensive loss	(1,210)							(1,210)
Ending balance at Dec. 31, 2022	15,591		$ 26	403,599		(386,785)		(1,249)
Ending balance, shares at Dec. 31, 2022			26,098
Issuance of common stock	8,737		$ 1	8,736
Issuance of common stock, shares			1,041
Stock-based compensation	47,986			47,986
Net loss	(43,366)					(43,366)
Equity issuance for Voyantic acquisition	3,579			3,579
Equity issuance for Voyantic acquisition, shares			27
Other comprehensive loss	1,604							1,604
Ending balance at Dec. 31, 2023	$ 34,131		$ 27	$ 463,900		$ (430,151)		$ 355
Ending balance, shares at Dec. 31, 2023			27,166