Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	Public Stock Offering	At Market Equity Offering Program	Common Stock	Common Stock Public Stock Offering	Common Stock At Market Equity Offering Program	Additional Paid-in Capital	Additional Paid-in Capital Public Stock Offering	Additional Paid-in Capital At Market Equity Offering Program	Accumulated Other Comprehensive Loss	Accumulated Deficit
Balance at beginning of period (in shares) at Dec. 31, 2019				45,388,023
Balance at beginning of period at Dec. 31, 2019	$ 78,318			$ 5			$ 270,662			$ 25	$ (192,374)
Increase (Decrease) in Stockholders' Equity
Issuance of stock (in shares)					9,200,000	10,900,599
Issuance of stock		$ 163,991	$ 62,977		$ 1	$ 1		$ 163,990	$ 62,976
Exercise of common stock warrant in exchange for common stock (in shares)				2,574,971
Exercise of stock options (in shares)				697,428
Exercise of stock options	3,138						3,138
Purchase of common stock under ESPP (in shares)				80,267
Purchase of common stock under ESPP	561						561
Stock-based compensation expense	7,172						7,172
Other comprehensive loss	(25)									(25)
Net loss	(88,045)										(88,045)
Balance at end of period (in shares) at Dec. 31, 2020				68,841,288
Balance at end of period at Dec. 31, 2020	228,087			$ 7			508,499			0	(280,419)
Increase (Decrease) in Stockholders' Equity
Issuance of stock (in shares)						3,961,074
Issuance of stock			43,087						43,087
Exercise of stock options (in shares)				421,381
Exercise of stock options	1,837						1,837
Vesting of restricted stock units, net of employee tax obligation (in shares)				407,060
Vesting of restricted stock units, net of employee tax obligation	(259)						(259)
Purchase of common stock under ESPP (in shares)				78,253
Purchase of common stock under ESPP	640						640
Stock-based compensation expense	18,409						18,409
Net loss	(170,060)										(170,060)
Balance at end of period (in shares) at Dec. 31, 2021				73,709,056
Balance at end of period at Dec. 31, 2021	$ 121,741			$ 7			572,213			0	(450,479)
Increase (Decrease) in Stockholders' Equity
Issuance of stock (in shares)						30,497,875
Issuance of stock			$ 150,762			$ 4			$ 150,758
Exercise of stock options (in shares)	414,914			414,914
Exercise of stock options	$ 1,331						1,331
Exercise of common stock warrant (in shares)				16,654
Vesting of restricted stock units, net of employee tax obligation (in shares)				235,591
Purchase of common stock under ESPP (in shares)				270,774
Purchase of common stock under ESPP	1,065						1,065
Stock-based compensation expense	21,522						21,522
Other comprehensive loss	(152)									(152)
Net loss	(204,212)										(204,212)
Balance at end of period (in shares) at Dec. 31, 2022				105,144,864
Balance at end of period at Dec. 31, 2022	$ 92,057			$ 11			$ 746,889			$ (152)	$ (654,691)