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, 2022		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
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
Stockholders' equity, end of period at Mar. 31, 2023	93,959	$ 3	461,886	300	(368,230)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2022		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 related to employee stock purchase plan (in shares)	130,867
Issuance of common stock related to employee stock purchase plan	$ 1,500
Foreign currency translation	34
Net unrealized gain (loss) on marketable securities	90
Net loss	(32,353)
Stockholders' equity, end of period (in shares) at Sep. 30, 2023		40,377,691
Stockholders' equity, end of period at Sep. 30, 2023	173,600	$ 4	562,698	356	(389,458)
Stockholders' equity, beginning of period (in shares) at Mar. 31, 2023		35,106,163
Stockholders' equity, beginning of period at Mar. 31, 2023	93,959	$ 3	461,886	300	(368,230)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from public offerings, net of underwriting discounts, commissions and offering costs (in shares)		4,068,497
Issuance of common stock from public offerings, net of underwriting discounts, commissions and offering costs	83,672	$ 1	83,671
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		497,926
Issuance of common stock upon exercise of stock options, net of shares withheld	3,515		3,515
Issuance of common stock related to employee stock purchase plan (in shares)		130,867
Issuance of common stock related to employee stock purchase plan	1,471		1,471
Issuance of common stock upon vesting of restricted stock units (in shares)		261,709
Issuance of common stock upon exercise of warrant, net of shares withheld (in shares)		22,603
Stock-based compensation	5,998		5,998
Foreign currency translation	3			3
Net unrealized gain (loss) on marketable securities	(5)			(5)
Net loss	(11,206)				(11,206)
Stockholders' equity, end of period (in shares) at Jun. 30, 2023		40,087,765
Stockholders' equity, end of period at Jun. 30, 2023	177,407	$ 4	556,541	298	(379,436)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		52,302
Issuance of common stock upon exercise of stock options, net of shares withheld	$ 229		229
Issuance of common stock related to employee stock purchase plan (in shares)	130,867
Issuance of common stock related to employee stock purchase plan	$ 1,500
Issuance of common stock upon vesting of restricted stock units (in shares)		237,624
Stock-based compensation	5,928		5,928
Foreign currency translation	53			53
Net unrealized gain (loss) on marketable securities	5			5
Net loss	(10,022)				(10,022)
Stockholders' equity, end of period (in shares) at Sep. 30, 2023		40,377,691
Stockholders' equity, end of period at Sep. 30, 2023	$ 173,600	$ 4	562,698	356	(389,458)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2023	40,693,299	40,693,299
Stockholders' equity, beginning of period at Dec. 31, 2023	$ 169,375	$ 4	569,477	335	(400,441)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		29,892
Issuance of common stock upon exercise of stock options, net of shares withheld	105		105
Issuance of common stock upon vesting of restricted stock units (in shares)		355,571
Stock-based compensation	7,030		7,030
Foreign currency translation	29			29
Net unrealized gain (loss) on marketable securities	(98)			(98)
Net loss	(10,904)				(10,904)
Stockholders' equity, end of period (in shares) at Mar. 31, 2024		41,078,762
Stockholders' equity, end of period at Mar. 31, 2024	$ 165,537	$ 4	576,612	266	(411,345)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2023	40,693,299	40,693,299
Stockholders' equity, beginning of period at Dec. 31, 2023	$ 169,375	$ 4	569,477	335	(400,441)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	141,860
Issuance of common stock related to employee stock purchase plan (in shares)	114,636
Issuance of common stock related to employee stock purchase plan	$ 1,500
Foreign currency translation	137
Net unrealized gain (loss) on marketable securities	110
Net loss	$ (26,418)
Stockholders' equity, end of period (in shares) at Sep. 30, 2024	41,790,410	41,790,410
Stockholders' equity, end of period at Sep. 30, 2024	$ 164,974	$ 4	591,247	582	(426,859)
Stockholders' equity, beginning of period (in shares) at Mar. 31, 2024		41,078,762
Stockholders' equity, beginning of period at Mar. 31, 2024	165,537	$ 4	576,612	266	(411,345)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		69,428
Issuance of common stock upon exercise of stock options, net of shares withheld	304		304
Issuance of common stock related to employee stock purchase plan (in shares)		114,636
Issuance of common stock related to employee stock purchase plan	1,472		1,472
Issuance of common stock upon vesting of restricted stock units (in shares)		247,985
Stock-based compensation	6,398		6,398
Foreign currency translation	(31)			(31)
Net unrealized gain (loss) on marketable securities	(8)			(8)
Net loss	(8,939)				(8,939)
Stockholders' equity, end of period (in shares) at Jun. 30, 2024		41,510,811
Stockholders' equity, end of period at Jun. 30, 2024	164,733	$ 4	584,786	227	(420,284)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		42,540
Issuance of common stock upon exercise of stock options, net of shares withheld	$ 155		155
Issuance of common stock related to employee stock purchase plan (in shares)	114,636
Issuance of common stock related to employee stock purchase plan	$ 1,500
Issuance of common stock upon vesting of restricted stock units (in shares)		237,059
Stock-based compensation	6,306		6,306
Foreign currency translation	139			139
Net unrealized gain (loss) on marketable securities	216			216
Net loss	$ (6,575)				(6,575)
Stockholders' equity, end of period (in shares) at Sep. 30, 2024	41,790,410	41,790,410
Stockholders' equity, end of period at Sep. 30, 2024	$ 164,974	$ 4	$ 591,247	$ 582	$ (426,859)