Consolidated Statements of Stockholders' Equity - USD ($)	Total	Common Stock [Member]	Additional Paid-In Capital [Member]	Accumulated Deficit [Member]	Accumulated Other Comprehensive Loss [Member]	Treasury Stock Amount [Member]
Balance at Dec. 31, 2020	$ 244,344,000	$ 1	$ 412,589,000	$ (168,192,000)	$ (54,000)
Balance (in shares) at Dec. 31, 2020		73,215,940
Employee stock-based compensation, net	6,100,000		6,100,000
Shares withheld related to employee tax withholding	(707,000)		(707,000)
Shares withheld related to employee tax withholding (in shares)		(117,025)
Issuance of common stock under employee stock plans	570,000		570,000
Issuance of common stock under employee stock plans (in shares)		421,174
Issuance of common stock from warrant exercises	7,062,000		7,062,000
Issuance of common stock from warrant exercises (in shares)		4,728,312
Unrealized gain (loss) on investments	(495,000)				(495,000)
Unrealized currency translation loss	0
Net Income (Loss)	(54,990,000)			(54,990,000)
Balance at Dec. 31, 2021	201,884,000	$ 1,000	425,614,000	(223,182,000)	(549,000)
Balance (in shares) at Dec. 31, 2021		78,248,401
Balance at Dec. 31, 2020	244,344,000	$ 1	412,589,000	(168,192,000)	(54,000)
Balance (in shares) at Dec. 31, 2020		73,215,940
Balance at Dec. 31, 2023	348,419,000	$ 1,000	733,546,000	(377,944,000)	(389,000)
Balance (in shares) at Dec. 31, 2023		100,113,770
Balance at Dec. 31, 2021	201,884,000	$ 1,000	425,614,000	(223,182,000)	(549,000)
Balance (in shares) at Dec. 31, 2021		78,248,401
Employee stock-based compensation, net	8,673,000		8,673,000
Shares withheld related to employee tax withholding	(1,533,000)		(1,533,000)
Shares withheld related to employee tax withholding (in shares)		(215,498)
Issuance of common stock under employee stock plans	215,000		215,000
Issuance of common stock under employee stock plans (in shares)		521,319
Issuance of common stock from warrant exercises	633,000		633,000
Issuance of common stock from warrant exercises (in shares)		487,087
Repurchase of common stock	(6,795,000)					$ 6,795,000
Repurchase of common stock (in shares)		2,193,251
Sale of common stock, net of issuance costs	11,665,000		11,665,000
Sale of common stock, net of issuance costs (in shares)		1,409,200
Unrealized gain (loss) on investments	(295,000)				(295,000)
Unrealized currency translation loss	(258,000)				(258,000)
Net Income (Loss)	(68,867,000)			(68,867,000)
Balance at Dec. 31, 2022	145,322,000	$ 1,000	445,267,000	(292,049,000)	(1,102,000)	$ (6,795,000)
Balance (in shares) at Dec. 31, 2022		78,257,258
Employee stock-based compensation, net	16,750,000		16,750,000
Shares withheld related to employee tax withholding	(7,121,000)		(7,121,000)
Shares withheld related to employee tax withholding (in shares)		(509,686)
Issuance of common stock under employee stock plans	6,768,000		6,768,000
Issuance of common stock under employee stock plans (in shares)		2,359,694
Sale of common stock, net of issuance costs	271,882,000		271,882,000
Sale of common stock, net of issuance costs (in shares)		20,006,504
Unrealized gain (loss) on investments	742,000				742,000
Unrealized currency translation loss	(29,000)				(29,000)
Net Income (Loss)	(85,895,000)			(85,895,000)
Balance at Dec. 31, 2023	$ 348,419,000	$ 1,000	$ 733,546,000	$ (377,944,000)	$ (389,000)
Balance (in shares) at Dec. 31, 2023		100,113,770