Statements of Stockholders’ Equity - USD ($) $ in Thousands	Common Stock	Additional Paid-in Capital	Accumulated Deficit	Accumulated Other Comprehensive Income	Total
Beginning balance (in shares) at Dec. 31, 2019	31,255,267
Beginning balance at Dec. 31, 2019	$ 31	$ 263,384	$ (191,526)	$ 2	$ 71,891
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock	$ 2	70,541			70,543
Issuance of common stock (in shares)	1,923,076
Exercise of stock options	$ 1	3,486			$ 3,487
Exercise of stock options (in shares)	1,018,779				1,018,779
Issuance of common stock under employee stock purchase plan		1,681			$ 1,681
Issuance of common stock under employee stock purchase plan (in shares)	52,527
Stock-based compensation		7,226			7,226
Net loss			(47,365)		(47,365)
Change in unrealized loss on investments, net				37	37
Ending balance (in shares) at Dec. 31, 2020	34,249,649
Ending balance at Dec. 31, 2020	$ 34	346,318	(238,891)	39	107,500
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options	$ 1	4,841			$ 4,842
Exercise of stock options (in shares)	643,507				643,507
Issuance of common stock upon release of restricted stock units (in shares)	34,964
Issuance of common stock under employee stock purchase plan		2,104			$ 2,104
Issuance of common stock under employee stock purchase plan (in shares)	52,776
Stock-based compensation		14,612			14,612
Disgorgement of short-swing profits, net		32			32
Net loss			(49,811)		(49,811)
Change in unrealized loss on investments, net				(39)	(39)
Ending balance (in shares) at Dec. 31, 2021	34,980,896
Ending balance at Dec. 31, 2021	$ 35	367,907	(288,702)		79,240
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock	$ 3	108,989			108,992
Issuance of common stock (in shares)	2,674,419
Exercise of stock options		3,364			$ 3,364
Exercise of stock options (in shares)	453,199				453,199
Issuance of common stock upon release of restricted stock units (in shares)	148,239
Issuance of common stock under employee stock purchase plan		2,432			$ 2,432
Issuance of common stock under employee stock purchase plan (in shares)	99,219
Stock-based compensation		25,023			25,023
Net loss			(55,010)		(55,010)
Change in unrealized loss on investments, net				(166)	(166)
Ending balance (in shares) at Dec. 31, 2022	38,355,972
Ending balance at Dec. 31, 2022	$ 38	$ 507,715	$ (343,712)	$ (166)	$ 163,875