Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	At Market Equity Offering Program	Common Stock	Common Stock At Market Equity Offering Program	Additional Paid-in Capital	Additional Paid-in Capital At Market Equity Offering Program	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Balance at beginning of period (in shares) at Dec. 31, 2020			68,841,288
Balance at beginning of period at Dec. 31, 2020	$ 228,087		$ 7		$ 508,499		$ 0	$ (280,419)
Increase (Decrease) in Stockholders' Equity
Issuance of common stock from at-the-market transactions, net of issuance costs (in shares)				3,961,074
Issuance of common stock from at-the-market transactions, net of issuance costs		$ 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	(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 common stock from at-the-market transactions, net of issuance costs (in shares)				30,497,875
Issuance of common stock from at-the-market transactions, net of issuance costs		150,762		$ 4		150,758
Exercise of stock options (in shares)			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 income (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)
Increase (Decrease) in Stockholders' Equity
Issuance of common stock from at-the-market transactions, net of issuance costs (in shares)				14,464,531
Issuance of common stock from at-the-market transactions, net of issuance costs		$ 93,670		$ 1		$ 93,669
Exercise of stock options (in shares)	102,596		102,596
Exercise of stock options	$ 427				427
Vesting of restricted stock units, net of employee tax obligation (in shares)			618,246
Purchase of common stock under ESPP (in shares)			381,508
Purchase of common stock under ESPP	1,121				1,121
Stock-based compensation expense	21,136				21,136
Other comprehensive income (loss)	163						163
Net loss	(171,670)							(171,670)
Balance at end of period (in shares) at Dec. 31, 2023			120,711,745
Balance at end of period at Dec. 31, 2023	$ 36,904		$ 12		$ 863,242		$ 11	$ (826,361)