Stockholders' Equity - Other (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended
	Nov. 30, 2022	Mar. 31, 2024	Mar. 31, 2023	Jan. 01, 2024
Stockholders' Equity
Total compensation cost		$ 5,193	$ 3,741
Maximum percentage of beneficial ownership for exercise of Pre-funded Warrants	9.99%
Maximum percentage increase or decrease of beneficial ownership for exercise of Pre-funded Warrants	19.99%
Public Offering.
Stockholders' Equity
Stock Issued During Period, Shares, New Issues	12,421,053
Number of pre-funded warrants (in shares)	2,105,264
Proceeds from equity offerings, net of offering costs	$ 64,500
Research and development.
Stockholders' Equity
Total compensation cost		1,832	1,342
Selling, general and administrative
Stockholders' Equity
Total compensation cost		$ 3,361	$ 2,399
Series A Convertible Preferred Stock
Shares
Conversion of Series A Convertible Preferred Stock (in shares)			0
Number of common shares issuable upon conversion of stock			860,000
Preferred stock, shares outstanding		0	4,300
Employee Stock Option
Stock Options
Outstanding (in shares)		8,671,041
Outstanding, weighted-average exercise price (in dollars per share)		$ 9.69
Granted (in shares)		1,617,094
Granted (in dollars per share)		$ 9.76
Restricted common stock
Stockholders' Equity
Vesting period		2 years
2005 Plan
Stockholders' Equity
Common stock reserved for issuance (in shares)		0
2005 Plan | Employee Stock Option
Stock Options
Outstanding (in shares)		0
2014 Plan
Stockholders' Equity
Common stock reserved for issuance (in shares)		260,569		3,090,220
2014 Plan | Employee Stock Option
Stock Options
Outstanding (in shares)		6,389,758
Granted (in shares)		1,540,519
2014 Plan | Restricted Stock Units
Stockholders' Equity
Vesting period		3 years
Shares
Issued (in shares)		1,350,244
Awards outstanding (in shares)		2,293,878
Equity Incentive Plan, Employee Inducements | Employee Stock Option
Stock Options
Outstanding (in shares)		2,281,283
Granted (in shares)		76,575