CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS’ EQUITY - USD ($) $ in Thousands	Total	Public offering	At-the-market offering	Series A Convertible Preferred Stock	Series B Convertible Preferred Stock	Preferred Stock Series A Convertible Preferred Stock	Preferred Stock Series B Convertible Preferred Stock	Preferred Stock Series B Convertible Preferred Stock Public offering	Common Stock	Common Stock Public offering	Common Stock At-the-market offering	Additional Paid-in Capital	Additional Paid-in Capital Public offering	Additional Paid-in Capital At-the-market offering	Accumulated Other Comprehensive Loss	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2020						398,487	0
Beginning balance at Dec. 31, 2020	$ 120,037					$ 180,801	$ 0		$ 42			$ 218,089			$ (8)	$ (278,887)
Beginning balance (in shares) at Dec. 31, 2020									4,231,135
Stockholders’ deficit
Issuance of common stock upon the conversion of convertible preferred stock (in shares)						(138,050)			9,203,732
Issuance of common stock upon the conversion of convertible preferred stock	0					$ (62,637)			$ 92			62,545
Issuance of stock, net of issuance cost (in shares)								23,126		7,344,543	2,551,269
Issuance of stock, net of issuance cost		$ 90,476	$ 32,449					$ 15,669		$ 73	$ 26		$ 74,734	$ 32,423
Issuance of common stock under license agreement (in shares)									394,737
Issuance of common stock under license agreement	7,500								$ 4			7,496
Issuance of common stock upon exercise of warrants (in shares)									77,871
Issuance of common stock upon exercise of warrants	1,285								$ 1			1,284
Issuance of common stock for cash upon the exercise of stock options under equity incentive plans (in shares)									106,831
Issuance of common stock for cash upon the exercise of stock options under equity incentive plans	1,027								$ 1			1,026
Issuance of common stock upon the vesting of restricted stock units (in shares)									10,574
Issuance of common stock for cash under employee stock purchase plan (in shares)									3,312
Issuance of common stock for cash under employee stock purchase plan	39											39
Share-based compensation expense	14,465											14,465
Change in unrealized loss on investments	(149)														(149)
Net loss	(79,413)															(79,413)
Ending balance (in shares) at Dec. 31, 2021				260,437	23,126	260,437	23,126
Ending balance at Dec. 31, 2021	$ 187,716					$ 118,164	$ 15,669		$ 239			412,101			(157)	(358,300)
Ending balance (in shares) at Dec. 31, 2021	23,924,004								23,924,004
Stockholders’ deficit
Issuance of common stock upon the conversion of convertible preferred stock (in shares)						(72,056)			4,803,965
Issuance of common stock upon the conversion of convertible preferred stock	$ 0					$ (32,694)			$ 48			32,646
Issuance of stock, net of issuance cost (in shares)								28,084		11,352,640	964,357
Issuance of stock, net of issuance cost		$ 289,650	$ 24,160					$ 41,008		$ 114	$ 10		$ 248,528	$ 24,150
Issuance of common stock upon exercise of warrants (in shares)									56,666
Issuance of common stock upon exercise of warrants	935								$ 1			934
Issuance of common stock for cash upon the exercise of stock options under equity incentive plans (in shares)									191,291
Issuance of common stock for cash upon the exercise of stock options under equity incentive plans	2,762								$ 2			2,760
Issuance of common stock for cash under employee stock purchase plan (in shares)									13,024
Issuance of common stock for cash under employee stock purchase plan	183											183
Share-based compensation expense	19,765											19,765
Change in unrealized loss on investments	(233)														(233)
Net loss	(129,874)															(129,874)
Ending balance (in shares) at Dec. 31, 2022				188,381	51,210	188,381	51,210
Ending balance at Dec. 31, 2022	$ 395,064					$ 85,470	$ 56,677		$ 414			$ 741,067			$ (390)	$ (488,174)
Ending balance (in shares) at Dec. 31, 2022	41,305,947								41,305,947