Statements of Stockholders Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Beginning Balance at Dec. 31, 2020	$ 328,609	$ 43	$ 822,624	$ 1	$ (494,059)
Beginning Balance (shares) at Dec. 31, 2020		42,722
Issuance of common stock through employee stock purchase plan	3,434		3,434
Issuance of common stock through employee stock purchase plan (shares)		116
Issuance of common stock upon follow-on public offering, net of issuance costs	149,085	$ 3	149,082
Issuance of common stock upon follow-on public offering, net of issuance costs (shares)		2,946
Issuance of common stock for settlement of RSUs (shares)		19
Stock option exercises	7,628	$ 1	7,627
Stock option exercises (shares)		1,438
Stock-based compensation expense	17,445		17,445
Unrealized gain (loss) on available-for-sale securities	(185)			(185)
Net Income (Loss)	(131,935)				(131,935)
Ending Balance at Dec. 31, 2021	374,081	$ 47	1,000,212	(184)	(625,994)
Ending Balance (shares) at Dec. 31, 2021		47,241
Issuance of common stock through employee stock purchase plan	4,202		4,202
Issuance of common stock through employee stock purchase plan (shares)		193
Issuance of common stock for settlement of RSUs (shares)		241
Stock option exercises	3,840	$ 1	3,839
Stock option exercises (shares)		790
Stock-based compensation expense	27,203		27,203
Unrealized gain (loss) on available-for-sale securities	(380)			(380)
Net Income (Loss)	(162,956)				(162,956)
Ending Balance at Dec. 31, 2022	245,990	$ 48	1,035,456	(564)	(788,950)
Ending Balance (shares) at Dec. 31, 2022		48,465
Issuance of common stock through employee stock purchase plan	7,510	$ 1	7,509
Issuance of common stock through employee stock purchase plan (shares)		559
Issuance of common stock for settlement of RSUs (shares)		708
Stock option exercises	$ 2,917	$ 1	2,916
Stock option exercises (shares)	585	585
Stock-based compensation expense	$ 38,634		38,634
Unrealized gain (loss) on available-for-sale securities	632			632
Net Income (Loss)	(172,797)				(172,797)
Ending Balance at Dec. 31, 2023	$ 122,886	$ 50	$ 1,084,515	$ 68	$ (961,747)
Ending Balance (shares) at Dec. 31, 2023		50,317