Condensed Consolidated Statements of Changes in Stockholders' Equity (Unaudited) - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Balances at Dec. 31, 2021	$ 83,941	$ 5	$ 425,765	$ (20)	$ (341,809)
Balances (in shares) at Dec. 31, 2021		49,355
Issuance of common stock in connection with employee stock purchase plan	184		184
Issuance of common stock in connection with employee stock purchase plan (in shares)		65
Stock-based compensation expense	2,101		2,101
Foreign currency translation adjustment	(13)			(13)
Unrealized gain (loss) on marketable securities	(120)			(120)
Net loss	(24,436)				(24,436)
Balances at Mar. 31, 2022	61,657	$ 5	428,050	(153)	(366,245)
Balances (in shares) at Mar. 31, 2022		49,420
Balances at Dec. 31, 2022	50,305	$ 6	475,971	(48)	(425,624)
Balances (in shares) at Dec. 31, 2022		65,350
Issuance of common stock in connection with employee stock purchase plan	18		18
Issuance of common stock in connection with employee stock purchase plan (in shares)		45
Stock-based compensation expense	1,709		1,709
Foreign currency translation adjustment	10			10
Unrealized gain (loss) on marketable securities	32			32
Net loss	(18,422)				(18,422)
Balances at Mar. 31, 2023	$ 33,652	$ 6	$ 477,698	$ (6)	$ (444,046)
Balances (in shares) at Mar. 31, 2023		65,395