Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Common stock	Additional paid-in capital	Accumulated other comprehensive income	Accumulated deficit	Total
Balance at Beginning of period at Dec. 31, 2020	$ 14	$ 245,736	$ (71)	$ (196,653)	$ 49,026
Balance at Beginning of period (in shares) at Dec. 31, 2020	14,437,107
Vesting of common stock previously subject to repurchase		1			1
Vesting of common stock previously subject to repurchase (in shares)	153
Vesting of share-based awards and exercise of stock options	$ 1	546			$ 547
Vesting of share-based awards and exercise of stock options (in shares)	89,154				77,154
Issuance of common stock under the employee stock purchase plan		38			$ 38
Issuance of common stock under the employee stock purchase plan (in shares)	3,163
Foreign currency translation adjustment			19		19
Stock-based compensation expense		3,661			3,661
Sale of common stock, net of underwriting discounts, commissions and offering costs		82			82
Net loss				(33,276)	(33,276)
Balance at Ending period at Dec. 31, 2021	$ 15	250,064	(52)	(229,929)	20,098
Balance at Ending period (in shares) at Dec. 31, 2021	14,529,577
Vesting of common stock previously subject to repurchase (in shares)	29
Vesting of share-based awards and exercise of stock options		19			$ 19
Vesting of share-based awards and exercise of stock options (in shares)	44,346				3,563
Issuance of common stock under the employee stock purchase plan		50			$ 50
Issuance of common stock under the employee stock purchase plan (in shares)	4,523
Shares withheld for employee taxes		(157)			(157)
Shares withheld for employee taxes (in shares)	(13,448)
Foreign currency translation adjustment			202		202
Stock-based compensation expense		3,989			3,989
Reclassification of liability-classified stock-based compensation awards	$ 4	34,396			34,400
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares)	4,600,000
Net loss				(44,296)	(44,296)
Balance at Ending period at Dec. 31, 2022	$ 19	288,361	150	(274,225)	14,305
Balance at Ending period (in shares) at Dec. 31, 2022	19,165,027
Vesting of share-based awards and exercise of stock options		127			$ 127
Vesting of share-based awards and exercise of stock options (in shares)	126,987				25,428
Issuance of common stock under the employee stock purchase plan		88			$ 88
Issuance of common stock under the employee stock purchase plan (in shares)	10,602
Shares withheld for employee taxes		(289)			(289)
Shares withheld for employee taxes (in shares)	(27,131)
Foreign currency translation adjustment			(59)		(59)
Stock-based compensation expense		5,032			5,032
Sale of common stock, net of underwriting discounts, commissions and offering costs	$ 5	46,336			46,341
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares)	5,219,190
Net loss				(46,664)	(46,664)
Balance at Ending period at Dec. 31, 2023	$ 24	$ 339,655	$ 91	$ (320,889)	$ 18,881
Balance at Ending period (in shares) at Dec. 31, 2023	24,494,675