Condensed Consolidated Statements of Stockholders’ Equity - USD ($) $ in Thousands	Total	Preferred Stock	Common Stock	Additional Paid-in Capital	Accumulated Deficit	Accumulated Other Comprehensive Income (Loss)
Preferred stock, beginning balance (in shares) at Dec. 31, 2021		6,666
Common stock, beginning balance (in shares) at Dec. 31, 2021			27,957,223
Balance at beginning of period at Dec. 31, 2021	$ 105,726		$ 28	$ 584,613	$ (478,698)	$ (217)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Unrealized gain (loss) on marketable securities	(57)					(57)
Foreign currency translation adjustment	(166)					(166)
Stock option exercises (in shares)			35,478
Stock option exercises	66			66
Stock-based compensation (in shares)			192,138
Stock-based compensation	3,028			3,028
Employee stock purchase plan shares issued (in shares)			94,226
Employee stock purchase plan shares issued	182			182
Net loss	(40,017)				(40,017)
Preferred stock, ending balance (in shares) at Mar. 31, 2022		6,666
Common stock, ending balance (in shares) at Mar. 31, 2022			28,279,065
Balance at end of period at Mar. 31, 2022	$ 68,762		$ 28	587,889	(518,715)	(440)
Preferred stock, beginning balance (in shares) at Dec. 31, 2022	6,666	6,666
Common stock, beginning balance (in shares) at Dec. 31, 2022	28,554,656		28,554,656
Balance at beginning of period at Dec. 31, 2022	$ 75,019		$ 29	594,173	(518,314)	(869)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Unrealized gain (loss) on marketable securities	12					12
Foreign currency translation adjustment	$ 59					59
Stock option exercises (in shares)	3,218		3,218
Stock option exercises	$ 4			4
Stock-based compensation (in shares)			336,206
Stock-based compensation	1,687			1,687
Employee stock purchase plan shares issued (in shares)			0
Net loss	$ (16,315)				(16,315)
Preferred stock, ending balance (in shares) at Mar. 31, 2023	6,666	6,666
Common stock, ending balance (in shares) at Mar. 31, 2023	28,894,080		28,894,080
Balance at end of period at Mar. 31, 2023	$ 60,466		$ 29	$ 595,864	$ (534,629)	$ (798)