Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stockholders' Equity Attributable to Parent	$ 45,814,000	$ 176,962,000	$ 306,948,000
Issuance of common stock net of issuance costs			215,765,000
Adjustments to Additional Paid in Capital, Equity Component of Convertible Debt			58,543,000
Exercise of stock options (in shares)	128,627
Stock Issued During Period, Value, Stock Options Exercised	$ 1,440,000	6,453,000	18,751,000
Stock Issued During Period, Value, Restricted Stock Award, Gross	(1,504,000)	(2,585,000)	(2,012,000)
APIC, Share-Based Payment Arrangement, Option, Increase for Cost Recognition		30,385,000
Stock Issued During Period, Value, Employee Stock Purchase Plan	2,669,000	2,428,000	2,190,000
Adjustments to Additional Paid in Capital, Warrant Issued			737,000
Stock Issued During Period, Value, Other			0
APIC, Share-Based Payment Arrangement, Increase for Cost Recognition	26,061,000		18,963,000
Other Comprehensive Income (Loss), Net of Tax	(271,000)	(401,000)	(62,000)
Net loss	(159,543,000)	(115,254,000)	(110,078,000)
Cumulative Effect, Period of Adoption, Adjustment
Stockholders' Equity Attributable to Parent			(51,012,000)
Additional Paid-in Capital
Issuance cost			14,200,000
Stockholders' Equity Attributable to Parent	855,694,000	827,028,000	848,891,000
Issuance of common stock net of issuance costs			215,765,000
Adjustments to Additional Paid in Capital, Equity Component of Convertible Debt			58,543,000
Stock Issued During Period, Value, Stock Options Exercised	1,440,000	6,452,000	18,751,000
Stock Issued During Period, Value, Restricted Stock Award, Gross	(1,504,000)	(2,585,000)	(2,012,000)
Stock Issued During Period, Value, Employee Stock Purchase Plan	2,669,000	2,428,000	2,190,000
Adjustments to Additional Paid in Capital, Warrant Issued			737,000
APIC, Share-Based Payment Arrangement, Increase for Cost Recognition	$ 26,061,000	$ 30,385,000	18,963,000
Additional Paid-in Capital | Cumulative Effect, Period of Adoption, Adjustment
Stockholders' Equity Attributable to Parent			$ (58,543,000)
Common Stock
Shares, Outstanding	46,719,000	45,729,000	44,441,000
Stockholders' Equity Attributable to Parent	$ 5,000	$ 5,000	$ 4,000
Shares Issued, Shares, Share-based Payment Arrangement, after Forfeiture	840,000	1,223,000
Stock Issued During Period, Shares, New Issues			5,750,000
Exercise of stock options (in shares)			1,890,000
Stock Issued During Period, Value, Stock Options Exercised		$ 1,000
Issuance of common stock for employee stock purchase plan (in shares)	150,000	65,000	89,000
Exercise of common stock warrant, net (in shares)			414,000
Accumulated Other Comprehensive Income (Loss)
Stockholders' Equity Attributable to Parent	$ (589,000)	$ (318,000)	$ 83,000
Other Comprehensive Income (Loss), Net of Tax	(271,000)	(401,000)	(62,000)
Accumulated Deficit
Stockholders' Equity Attributable to Parent	(809,296,000)	(649,753,000)	(542,030,000)
Net loss	$ (159,543,000)	$ (115,254,000)	(110,078,000)
Accumulated Deficit | Cumulative Effect, Period of Adoption, Adjustment
Stockholders' Equity Attributable to Parent			$ 7,531,000