Consolidated Statements of Stockholders’ Equity - USD ($) $ in Thousands	Total	Preferred Stock	Common Stock	Additional Paid-in Capital	Accumulated Deficit	Accumulated Other Comprehensive Income (Loss)
Balance at beginning of period, preferred stock (in shares) at Dec. 31, 2020		0
Balance at beginning of period at Dec. 31, 2020	$ 126,583	$ 0	$ 28	$ 487,290	$ (361,015)	$ 280
Balance at beginning of period, common stock (in shares) at Dec. 31, 2020			27,991,425
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Unrealized gain (loss) on marketable securities	(37)					(37)
Foreign currency translation adjustment	(460)					(460)
Issuance of common stock for cash, net of issuance costs of $5,893 (in shares)			6,325,000
Issuance of common stock for cash, net of issuance costs of $5,893	$ 82,657		$ 6	82,651
Stock option exercises (in shares)	111,804		111,804
Stock option exercises	$ 711			711
Stock-based compensation (in shares)			134,236
Stock-based compensation	13,515			13,515
Employee stock purchase plan shares issued (in shares)			33,641
Employee stock purchase plan shares issued	440			440
Issuance of common stock for cashless warrant exercise (in shares)			26,958
Issuance of common stock for cashless warrant exercise	0
Exchange of common stock for Series A Common Equivalent Preferred Stock (in shares)		6,666	(6,665,841)
Stock Issued During Period, Value, Conversion of Convertible Securities	0		$ (6)	6
Net loss	$ (117,683)				(117,683)
Balance at end of period, preferred stock (in shares) at Dec. 31, 2021	6,666	6,666
Balance at end of period at Dec. 31, 2021	$ 105,726	$ 0	$ 28	584,613	(478,698)	(217)
Balance at end of period, common stock (in shares) at Dec. 31, 2021	27,957,223		27,957,223
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Unrealized gain (loss) on marketable securities	$ 39					39
Foreign currency translation adjustment	$ (691)					(691)
Stock option exercises (in shares)	35,478		35,478
Stock option exercises	$ 67		$ 1	66
Stock-based compensation (in shares)			412,628
Stock-based compensation	9,280			9,280
Employee stock purchase plan shares issued (in shares)			149,327
Employee stock purchase plan shares issued	214			214
Net loss	$ (39,616)				(39,616)
Balance at end of period, preferred stock (in shares) at Dec. 31, 2022	6,666	6,666
Balance at end of period at Dec. 31, 2022	$ 75,019	$ 0	$ 29	$ 594,173	$ (518,314)	$ (869)
Balance at end of period, common stock (in shares) at Dec. 31, 2022	28,554,656		28,554,656