Condensed Consolidated Statements of Stockholders’ Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2021		139,164,693
Beginning balance at Dec. 31, 2021	$ 389,700	$ 1	$ 848,229	$ (1)	$ (458,529)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	31,029		31,029
Exercise of stock options (in shares)		846,284
Exercise of stock options	3,634		3,634
Vesting of restricted stock units (in shares)		85,206
Vesting of restricted stock units	67		67
Issuances of common stock under employee stock purchase plan (in shares)		526,754
Issuance of common stock under employee stock purchase plan	5,563		5,563
Cumulative translation adjustment	(18)			(18)
Net loss	(55,029)				(55,029)
Ending balance (in shares) at Jun. 30, 2022		140,622,937
Ending balance at Jun. 30, 2022	374,946	$ 1	888,522	(19)	(513,558)
Beginning balance (in shares) at Mar. 31, 2022		139,573,416
Beginning balance at Mar. 31, 2022	380,508	$ 1	864,676	9	(484,178)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	16,097		16,097
Exercise of stock options (in shares)		469,706
Exercise of stock options	2,119		2,119
Vesting of restricted stock units (in shares)		53,061
Vesting of restricted stock units	67		67
Issuances of common stock under employee stock purchase plan (in shares)		526,754
Issuance of common stock under employee stock purchase plan	5,563		5,563
Cumulative translation adjustment	(28)			(28)
Net loss	(29,380)				(29,380)
Ending balance (in shares) at Jun. 30, 2022		140,622,937
Ending balance at Jun. 30, 2022	374,946	$ 1	888,522	(19)	(513,558)
Beginning balance (in shares) at Dec. 31, 2022		145,013,786
Beginning balance at Dec. 31, 2022	339,310	$ 1	951,946	(233)	(612,404)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	54,263		54,263
Exercise of stock options (in shares)		1,362,403
Exercise of stock options	4,777		4,777
Vesting of restricted stock units (in shares)		2,844,246
Vesting of restricted stock units	108		108
Issuances of common stock under employee stock purchase plan (in shares)		625,111
Issuance of common stock under employee stock purchase plan	4,757		4,757
Other comprehensive income (loss)	185			185
Cumulative translation adjustment	(16)
Net loss	(70,279)				(70,279)
Ending balance (in shares) at Jun. 30, 2023		149,845,546
Ending balance at Jun. 30, 2023	333,121	$ 1	1,015,851	(48)	(682,683)
Beginning balance (in shares) at Mar. 31, 2023		146,627,024
Beginning balance at Mar. 31, 2023	325,085	$ 1	982,128	(96)	(656,948)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	25,530		25,530
Exercise of stock options (in shares)		1,006,887
Exercise of stock options	3,328		3,328
Vesting of restricted stock units (in shares)		1,586,524
Vesting of restricted stock units	108		108
Issuances of common stock under employee stock purchase plan (in shares)		625,111
Issuance of common stock under employee stock purchase plan	4,757		4,757
Other comprehensive income (loss)	48			48
Cumulative translation adjustment	(5)
Net loss	(25,735)				(25,735)
Ending balance (in shares) at Jun. 30, 2023		149,845,546
Ending balance at Jun. 30, 2023	$ 333,121	$ 1	$ 1,015,851	$ (48)	$ (682,683)