Condensed Consolidated Statements of Stockholders' (Deficit) Equity - USD ($) $ in Thousands	Total	Common Stock [Member]	Additional Paid-in Capital [Member]	Accumulated Deficit [Member]	Accumulated Other Comprehensive Loss (Income) [Member]
Beginning balance at Dec. 31, 2021	$ 131,507	$ 92	$ 745,829	$ (614,354)	$ (60)
Beginning balance, shares at Dec. 31, 2021		91,889,418
Issuance of common stock upon exercise of stock options, value	257		257
Issuance of common stock upon exercise of stock options, shares		92,478
Issuance of common stock upon vesting of RSUs, net of tax withholdings, shares		69,195
Issuance of common stock under ESPP, value	892		892
Issuance of common stock under ESPP, shares		159,214
Stock-based compensation expense	5,079		5,079
Other comprehensive income loss	(155)				(155)
Net loss	(56,624)			(56,624)
Ending balance at Mar. 31, 2022	80,956	$ 92	752,057	(670,978)	(215)
Ending balance, shares at Mar. 31, 2022		92,210,305
Beginning balance at Dec. 31, 2022	$ 10,783	$ 125	875,181	(864,511)	(12)
Beginning balance, shares at Dec. 31, 2022	125,222,273	125,222,273
Issuance of common stock upon exercise of stock options, value	$ 188		188
Issuance of common stock upon exercise of stock options, shares	56,523	56,523
Issuance of common stock upon vesting of RSUs, net of tax withholdings, shares		259,023
Issuance of common stock under ESPP, value	$ 1,229	$ 1	1,228
Issuance of common stock under ESPP, shares		267,615
Issuance of common stock from at the market equity offering, value	4,239	$ 1	4,238
Issuance of common stock from at the market equity offering, shares		787,170
Stock-based compensation expense	6,850		6,850
Other comprehensive income loss	14				14
Net loss	(71,174)			(71,174)
Ending balance at Mar. 31, 2023	$ (47,871)	$ 127	$ 887,685	$ (935,685)	$ 2
Ending balance, shares at Mar. 31, 2023	126,592,604	126,592,604