Consolidated Statements of Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Common Stock [Member]	Additional Paid-in Capital [Member]	Accumulated Other Comprehensive (Loss) [Member]	Accumulated Deficit [Member]
Beginning balance at Dec. 31, 2019	$ (48,324)	$ 70	$ 411,255		$ (459,649)
Beginning balance, shares at Dec. 31, 2019		70,143,252
Issuance of common stock, net of issuance costs, value	243,748	$ 12	243,736
Common stock, shares issued		12,075,000
Issuance of common stock from Securities Purchase Agreement, net of offering costs - related party, value	19,900	$ 1	19,899
Issuance of common stock from Securities Purchase Agreement, net of offering costs - related party, shares		959,002
Issuance of common stock from at the market equity offering, value	24,773	$ 6	24,767
Issuance of common stock from at the market equity offering, shares		5,787,681
Issuance of common stock upon exercise of stock options, value	14,421	$ 2	14,419
Issuance of common stock upon exercise of stock options, shares		2,214,011
Issuance of common stock upon vesting of RSUs, net of tax withholdings, value	120		120
Issuance of common stock upon vesting of RSUs, net of tax withholdings, shares		125,000
Issuance of common stock under ESPP plan, value	462		462
Issuance of common stock under ESPP plan, shares		155,293
Stock-based compensation expense	8,824		8,824
Other comprehensive loss	(47)			$ (47)
Net loss	(89,127)				(89,127)
Ending balance at Dec. 31, 2020	174,750	$ 91	723,482	(47)	(548,776)
Ending balance, shares at Dec. 31, 2020		91,459,239
Issuance of common stock upon exercise of stock options, value	1,299	$ 1	1,298
Issuance of common stock upon exercise of stock options, shares		329,112
Issuance of common stock upon vesting of RSUs, net of tax withholdings, shares		650
Issuance of common stock under ESPP plan, value	827		827
Issuance of common stock under ESPP plan, shares		100,417
Stock-based compensation expense	20,222		20,222
Other comprehensive loss	(13)			(13)
Net loss	(65,578)				(65,578)
Ending balance at Dec. 31, 2021	$ 131,507	$ 92	745,829	(60)	(614,354)
Ending balance, shares at Dec. 31, 2021	91,889,418	91,889,418
Issuance of common stock, net of issuance costs, value	$ 96,721	$ 32	96,689
Common stock, shares issued		31,746,030
Issuance of common stock from at the market equity offering, value	4,447	$ 1	4,446
Issuance of common stock from at the market equity offering, shares		655,000
Issuance of common stock upon exercise of stock options, value	$ 966		966
Issuance of common stock upon exercise of stock options, shares	326,864	326,864
Issuance of common stock upon vesting of RSUs, net of tax withholdings, shares		282,401
Issuance of common stock under ESPP plan, value	$ 1,769		1,769
Issuance of common stock under ESPP plan, shares		322,560
Stock-based compensation expense	25,482		25,482
Other comprehensive loss	48			48
Net loss	(250,157)				(250,157)
Ending balance at Dec. 31, 2022	$ 10,783	$ 125	$ 875,181	$ (12)	$ (864,511)
Ending balance, shares at Dec. 31, 2022	125,222,273	125,222,273