CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income	Accumulated Deficit
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2021		33,674,085
Stockholders' equity, beginning of period at Dec. 31, 2021	$ 134,420	$ 3	$ 429,914	$ 352	$ (295,849)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		34,798
Issuance of common stock upon exercise of stock options, net of shares withheld	169		169
Issuance of common stock upon vesting of restricted stock units (in shares)		163,480
Stock-based compensation	5,507		5,507
Foreign currency translation	0
Net unrealized gain (loss) on marketable securities	(248)			(248)
Net loss	(17,410)				(17,410)
Stockholders' equity, end of period (in shares) at Mar. 31, 2022		33,872,363
Stockholders' equity, end of period at Mar. 31, 2022	$ 122,438	$ 3	435,590	104	(313,259)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2022	34,731,577	34,731,577
Stockholders' equity, beginning of period at Dec. 31, 2022	$ 98,302	$ 3	455,172	232	(357,105)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	120,266	120,266
Issuance of common stock upon exercise of stock options, net of shares withheld	$ 520		520
Issuance of common stock upon vesting of restricted stock units (in shares)		254,320
Stock-based compensation	6,194		6,194
Foreign currency translation	(22)			(22)
Net unrealized gain (loss) on marketable securities	90			90
Net loss	$ (11,125)				(11,125)
Stockholders' equity, end of period (in shares) at Mar. 31, 2023	35,106,163	35,106,163
Stockholders' equity, end of period at Mar. 31, 2023	$ 93,959	$ 3	$ 461,886	$ 300	$ (368,230)