CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Common stock	Additional paid-in capital	Accumulated other comprehensive income (loss)	Accumulated deficit	Total
Beginning Balance at Dec. 31, 2021	$ 37	$ 745,936	$ 441	$ (305,462)	$ 440,952
Beginning balance (in shares) at Dec. 31, 2021	36,768
Increase (Decrease) in Stockholders' Equity
Issuance of common stock under stock plans, including tax effects		1,597			1,597
Issuance of common stock under stock plans, including tax effects (in shares)	326
Stock-based compensation expense		11,779			11,779
Foreign currency translation			(3,440)		(3,440)
Net loss				(78,119)	(78,119)
Ending Balance at Sep. 30, 2022	$ 37	759,312	(2,999)	(383,581)	372,769
Ending Balance (in shares) at Sep. 30, 2022	37,094
Beginning Balance at Jun. 30, 2022	$ 37	756,139	(2,203)	(348,517)	405,456
Beginning balance (in shares) at Jun. 30, 2022	36,975
Increase (Decrease) in Stockholders' Equity
Issuance of common stock under stock plans, including tax effects		407			407
Issuance of common stock under stock plans, including tax effects (in shares)	119
Stock-based compensation expense		2,766			2,766
Foreign currency translation			(796)		(796)
Net loss				(35,064)	(35,064)
Ending Balance at Sep. 30, 2022	$ 37	759,312	(2,999)	(383,581)	372,769
Ending Balance (in shares) at Sep. 30, 2022	37,094
Beginning Balance at Dec. 31, 2022	$ 37	763,688	(2,623)	(402,162)	358,940
Beginning balance (in shares) at Dec. 31, 2022	37,280
Increase (Decrease) in Stockholders' Equity
Issuance of common stock under stock plans, including tax effects	$ 1	2,489			2,490
Issuance of common stock under stock plans, including tax effects (in shares)	559
Stock-based compensation expense		12,438			12,438
Unrealized loss on marketable securities, net of tax			(241)		(241)
Foreign currency translation			(350)		(350)
Net loss				(19,925)	(19,925)
Ending Balance at Sep. 30, 2023	$ 38	778,615	(3,214)	(422,087)	353,352
Ending Balance (in shares) at Sep. 30, 2023	37,839
Beginning Balance at Jun. 30, 2023	$ 37	772,473	(2,825)	(414,329)	355,356
Beginning balance (in shares) at Jun. 30, 2023	37,566
Increase (Decrease) in Stockholders' Equity
Issuance of common stock under stock plans, including tax effects	$ 1	1,799			1,800
Issuance of common stock under stock plans, including tax effects (in shares)	273
Stock-based compensation expense		4,343			4,343
Unrealized loss on marketable securities, net of tax			(241)		(241)
Foreign currency translation			(148)		(148)
Net loss				(7,758)	(7,758)
Ending Balance at Sep. 30, 2023	$ 38	$ 778,615	$ (3,214)	$ (422,087)	$ 353,352
Ending Balance (in shares) at Sep. 30, 2023	37,839