Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-In Capital	Accumulated Deficit	Accumulated Other Comprehensive Loss
Beginning balance (in shares) at Dec. 31, 2020		42,196,296
Beginning balance at Dec. 31, 2020	$ 191,216		$ 524,022	$ (332,806)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common stock issued upon exercises of stock options (in shares)		124,928
Common stock issued upon exercises of stock options	411		411
Common stock issued upon vesting of restricted stock units (in shares)		84,500
Issuance of shares under Employee Stock Purchase Plan (in shares)		51,747
Issuance of common stock under Employee Stock Purchase Plan	372		372
Stock-based compensation	11,557		11,557
Unrealized loss on available-for-sale securities	0
Net loss	(60,692)			(60,692)
Ending balance (in shares) at Dec. 31, 2021		42,457,471
Ending balance at Dec. 31, 2021	$ 142,864		536,362	(393,498)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common stock issued upon exercises of stock options (in shares)	36,500	36,500
Common stock issued upon exercises of stock options	$ 134		134
Common stock issued upon vesting of restricted stock units (in shares)		24,750
Issuance of shares under Employee Stock Purchase Plan (in shares)		129,625
Issuance of common stock under Employee Stock Purchase Plan	82		82
Stock-based compensation	8,829		8,829
Unrealized loss on available-for-sale securities	(21)				$ (21)
Net loss	(57,557)			(57,557)
Ending balance (in shares) at Dec. 31, 2022		42,648,346
Ending balance at Dec. 31, 2022	$ 94,331		$ 545,407	$ (451,055)	$ (21)