Consolidated Statements of Operations - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenues:
Total revenues	$ 138,590	$ 104,754	$ 69,056
Costs and operating expenses:
Cost of product revenue	38,033	22,209	13,742
Research and development	80,099	55,919	44,185
Selling, general and administrative	52,172	49,323	35,049
Restructuring charges	3,167	0	0
Total costs and operating expenses	173,471	127,451	92,976
Income (loss) from operations	(34,881)	(22,697)	(23,920)
Interest income	1,441	459	405
Other income (expense), net ($208, $983 and $0 from a related party)	124	1,148	(156)
Loss before income taxes	(33,316)	(21,090)	(23,671)
Provision for income taxes	276	189	339
Net loss	$ (33,592)	$ (21,279)	$ (24,010)
Net loss per share, basic (in dollars per share)	$ (0.51)	$ (0.33)	$ (0.40)
Net loss per share, diluted (in dollars per share)	$ (0.51)	$ (0.33)	$ (0.40)
Weighted average common stock shares used in computing net loss per share, basic (in shares)	65,344	64,568	59,360
Weighted average common stock shares used in computing net loss per share, diluted (in shares)	65,344	64,568	59,360
Product revenue ($514, $0 and $0 from a related party)
Revenues:
Total revenues	$ 116,676	$ 70,657	$ 30,220
Research and development revenue ($1,245, $1,955 and $900 from a related party)
Revenues:
Total revenues	$ 21,914	$ 34,097	$ 38,836