CONSOLIDATED STATEMENTS STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-In Capital	Other Comprehensive Income (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2020		70,583,000
Beginning balance at Dec. 31, 2020	$ 280,043	$ 71	$ 578,599	$ 4	$ (298,631)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock under offering, net of issuance costs (in shares)		5,324,000
Issuance of common stock under offering, net of issuance costs	134,580	$ 5	134,575
Issuance of common stock upon exercise of stock options (in shares)		1,845,000
Issuance of common stock upon exercise of stock options	12,362	$ 2	12,360
Issuance of common stock in connection with employee stock purchase plan (in shares)		193,000
Issuance of common stock under employee stock purchase plan	2,519		2,519
Issuance of common stock under Open Market Agreement, net of issuance costs (in shares)		7,000
Issuance of common stock under Open Market Agreement, net of issuance costs	196		196
Issuance of common stock to participants in 401(k) Plan (in shares)		4,000
Issuance of common stock to participants in 401(k) plan	125		125
Vesting of common stock from early exercises (in shares)		6,000
Vesting of common stock from early exercises	48		48
Stock-based compensation expense	26,242		26,242
Comprehensive income (loss)	(133)			(133)
Net loss	(120,335)				(120,335)
Ending balance (in shares) at Dec. 31, 2021		77,962,000
Ending balance at Dec. 31, 2021	335,647	$ 78	754,664	(129)	(418,966)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		426,000
Issuance of common stock upon exercise of stock options	2,984	$ 1	2,983
Issuance of common stock in connection with employee stock purchase plan (in shares)		243,000
Issuance of common stock under employee stock purchase plan	1,803		1,803
Issuance of common stock under Open Market Agreement, net of issuance costs (in shares)		3,246,000
Issuance of common stock under Open Market Agreement, net of issuance costs	49,446	$ 3	49,443
Issuance of common stock to participants in 401(k) Plan (in shares)		8,000
Issuance of common stock to participants in 401(k) plan	137		137
Stock-based compensation expense	32,383		32,383
Comprehensive income (loss)	(173)			(173)
Net loss	$ (162,667)				(162,667)
Ending balance (in shares) at Dec. 31, 2022	81,885,000	81,885,000
Ending balance at Dec. 31, 2022	$ 259,560	$ 82	841,413	(302)	(581,633)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)	351	351,000
Issuance of common stock upon exercise of stock options	$ 668		668
Issuance of common stock in connection with employee stock purchase plan (in shares)		544,000
Issuance of common stock under employee stock purchase plan	1,107	$ 1	1,106
Issuance of common stock to participants in 401(k) Plan (in shares)		127,000
Issuance of common stock to participants in 401(k) plan	639		639
Stock-based compensation expense	28,719		28,719
Comprehensive income (loss)	320			320
Net loss	$ (142,375)				(142,375)
Ending balance (in shares) at Dec. 31, 2023	82,907,000	82,907,000
Ending balance at Dec. 31, 2023	$ 148,638	$ 83	$ 872,545	$ 18	$ (724,008)