Condensed Consolidated Statements of Stockholders' Equity (Unaudited) - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2022		65,811,000
Beginning balance at Dec. 31, 2022	$ 144,797	$ 6	$ 566,081	$ 0	$ (421,290)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)	142,856	143,000
Exercise of stock options	$ 281		281
Release of stock awards (in shares)		479,000
Stock-based compensation	2,809		2,809
Issuance of common stock, net of issuance costs (in shares)		328,000
Issuance of common stock, net of issuance costs	1,150		1,150
Taxes paid related to net share settlement of equity awards (in shares)		(65,000)
Taxes paid related to net share settlement of equity awards	(404)		(404)
Net loss	(22,617)				(22,617)
Ending balance (in shares) at Mar. 31, 2023		66,696,000
Ending balance at Mar. 31, 2023	126,016	$ 6	569,917	0	(443,907)
Beginning balance (in shares) at Dec. 31, 2023		69,905,000
Beginning balance at Dec. 31, 2023	$ 86,615	$ 7	584,138	0	(497,530)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)	72,856	73,000
Exercise of stock options	$ 143		143
Release of stock awards (in shares)		576,000
Stock-based compensation	3,171		3,171
Issuance of common stock, net of issuance costs	859		859
Net loss	(11,505)				(11,505)
Other comprehensive loss	(16)			(16)
Ending balance (in shares) at Mar. 31, 2024		70,554,000
Ending balance at Mar. 31, 2024	$ 79,267	$ 7	$ 588,311	$ (16)	$ (509,035)