Consolidated Statements of Convertible Preferred Stock, Redeemable Common Stock and Stockholders' Equity (Deficit) - USD ($)	Total	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit	Redeemable Common Stock
Beginning balance, convertible preferred stock (in share) at Dec. 31, 2020						0
Beginning balance, convertible preferred stock at Dec. 31, 2020						$ 0
Ending balance, convertible preferred stock (in shares) at Dec. 31, 2021						0
Ending balance, convertible preferred stock at Dec. 31, 2021						$ 0
Beginning balance (in shares) at Dec. 31, 2020		16,305,731
Beginning balance at Dec. 31, 2020	$ 72,799,000	$ 16,000	$ 267,077,000	$ (119,000)	$ (194,175,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock issued (in shares)		9,435,951				229,885
Stock issued	73,868,000	$ 10,000	73,858,000			$ 1,875
Exercise of stock options (in shares)		5,860
Exercise of stock options	40,000		40,000
Stock-based compensation expense	$ 6,180,000		6,180,000
Issuance of shares under employee stock purchase plan (in shares)	45,816
Issuance of shares under employee stock purchase plan	$ 219,000		219,000
Vesting of restricted stock units, less shares withheld and retired to satisfy tax obligations (in shares)		204,531
Vesting of restricted stock units, less shares withheld and retired to satisfy tax obligations	$ 0
Repurchase and retirement of redeemable common stock (in shares)	(229,885)
Repurchase and retirement of redeemable common stock	$ 0					$ (1,875)
Net income (loss)	(88,696,000)				(88,696,000)
Exercise of warrants (in shares)		2,129,768
Exercise of warrants and prefunded warrants	2,000	$ 2,000
Ending balance (in shares) at Dec. 31, 2021		28,127,657
Ending balance at Dec. 31, 2021	64,412,000	$ 28,000	347,374,000	(119,000)	(282,871,000)
Ending balance, convertible preferred stock (in shares) at Dec. 31, 2022						0
Ending balance, convertible preferred stock at Dec. 31, 2022						$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock issued (in shares)		92,461,988
Stock issued	$ 59,362,000	$ 92,000	59,270,000
Exercise of stock options (in shares)	2,031
Stock-based compensation expense	$ 5,199,000		5,199,000
Issuance of shares under employee stock purchase plan (in shares)	204,903
Issuance of shares under employee stock purchase plan	$ 203,000	$ 1,000	202,000
Vesting of restricted stock units, less shares withheld and retired to satisfy tax obligations (in shares)		372,831
Vesting of restricted stock units, less shares withheld and retired to satisfy tax obligations	(13,000)	$ 0	(13,000)
Net income (loss)	(93,867,000)				(93,867,000)
Exercise of warrants (in shares)		499,871
Exercise of warrants and prefunded warrants	1,000	$ 1,000
Reclassifications of Temporary to Permanent Equity	38,754,000		38,754,000
Ending balance (in shares) at Dec. 31, 2022		121,667,250
Ending balance at Dec. 31, 2022	74,051,000	$ 122,000	450,786,000	(119,000)	(376,738,000)
Ending balance, convertible preferred stock (in shares) at Dec. 31, 2023						0
Ending balance, convertible preferred stock at Dec. 31, 2023						$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock issued (in shares)		34,521,046
Stock issued	60,443,000	$ 35,000	60,408,000
Stock-based compensation expense	$ 8,687,000		8,687,000
Issuance of shares under employee stock purchase plan (in shares)	257,963
Issuance of shares under employee stock purchase plan	$ 272,000		272,000
Vesting of restricted stock units, less shares withheld and retired to satisfy tax obligations (in shares)		3,510,491
Vesting of restricted stock units, less shares withheld and retired to satisfy tax obligations	0	$ 2,000	(2,000)
Net income (loss)	(101,167,000)				(101,167,000)
Exercise of warrants (in shares)		7,477,845
Exercise of warrants and prefunded warrants	8,813,000	$ 8,000
Reclassifications of Temporary to Permanent Equity	(101,167,000)
Ending balance (in shares) at Dec. 31, 2023		167,434,595
Ending balance at Dec. 31, 2023	$ 51,099,000	$ 167,000	$ 528,956,000	$ (119,000)	$ (477,905,000)