Condensed Consolidated Statements of Changes in Stockholders’ Equity - USD ($) shares in Thousands, $ in Thousands	Total	Common stock	Additional paid-in capital	Accumulated deficit
Stockholders' equity at beginning of period (in shares) at Dec. 31, 2022		59,190
Stockholder's equity at beginning of period at Dec. 31, 2022	$ 223,636	$ 296	$ 421,569	$ (198,229)
Stockholders' Equity
Exercise of stock options (in shares)		220
Exercise of stock options	260	$ 1	259
Repurchase of common stock related to net share settlement (in shares)		(2)
Repurchase of common stock related to net share settlement	(15)		(15)
Vesting of restricted stock units (in shares)		112
Vesting of restricted stock units	0	$ 1	(1)
Cancellation of restricted stock awards (in shares)		(13)
Issuance of Common Stock under ESPP (in shares)		132
Issuance of common stock under Employee Stock Purchase Plan	932	$ 1	931
Stock compensation expense	7,350		7,350
Net loss	(20,365)			(20,365)
Stockholders' equity at end of period (in shares) at Mar. 31, 2023		59,639
Stockholder's equity at end of period at Mar. 31, 2023	$ 211,798	$ 299	430,093	(218,594)
Stockholders' equity at beginning of period (in shares) at Dec. 31, 2023	61,010	61,010
Stockholder's equity at beginning of period at Dec. 31, 2023	$ 200,335	$ 306	440,408	$ (240,379)
Stockholders' Equity
Exercise of stock options (in shares)	8	8
Exercise of stock options	$ 10		10
Repurchase of common stock related to net share settlement (in shares)		(5)
Repurchase of common stock related to net share settlement	(39)		(39)
Vesting of restricted stock units (in shares)		380
Vesting of restricted stock units	0	$ 2	(2)
Issuance of Common Stock under ESPP (in shares)		51
Issuance of common stock under Employee Stock Purchase Plan	360		360
Stock compensation expense	5,787		5,787
Common stock repurchases under share repurchase program (in shares)				(343)
Common stock repurchases under share repurchase program	(2,718)	$ (2)	(2,484)	$ (232)
Net loss	$ (10,582)			(10,582)
Stockholders' equity at end of period (in shares) at Mar. 31, 2024	61,101	61,101
Stockholder's equity at end of period at Mar. 31, 2024	$ 193,153	$ 306	$ 444,040	$ (251,193)