Condensed Consolidated Statements of Stockholders' Equity (unaudited) - USD ($) $ in Thousands	Total	Preferred Stock Series A Convertible Preferred Stock	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2022		1,250
Beginning balance at Dec. 31, 2022	$ 132,273	$ 0	$ 70	$ 357,771	$ (42)	$ (225,527)
Beginning balance (in shares) at Dec. 31, 2022			70,466,885
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of stock options and purchases from employee stock purchase plan (in shares)			24,625
Issuance of common stock from exercise of stock options and purchases from employee stock purchase plan	67			67
Stock-based compensation expense	1,917			1,917
Other comprehensive income (loss)	48				48
Net loss	(13,356)					(13,356)
Ending balance (in shares) at Mar. 31, 2023		1,250
Ending balance at Mar. 31, 2023	$ 120,948	$ 0	$ 70	359,754	6	(238,883)
Ending balance (in shares) at Mar. 31, 2023			70,491,510
Beginning balance (in shares) at Dec. 31, 2023	1,250	1,250
Beginning balance at Dec. 31, 2023	$ 87,797	$ 0	$ 71	365,591	1	(277,866)
Beginning balance (in shares) at Dec. 31, 2023	70,691,992		70,691,992
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of stock options and purchases from employee stock purchase plan (in shares)			91,969
Issuance of common stock from exercise of stock options and purchases from employee stock purchase plan	$ 228			228
Stock-based compensation expense	1,968			1,968
Other comprehensive income (loss)	(20)				(20)
Net loss	$ (11,694)					(11,694)
Ending balance (in shares) at Mar. 31, 2024	1,250	1,250
Ending balance at Mar. 31, 2024	$ 78,279	$ 0	$ 71	$ 367,787	$ (19)	$ (289,560)
Ending balance (in shares) at Mar. 31, 2024	70,783,961		70,783,961