CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Unaudited) - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit
Beginning Balance (in shares) at Dec. 31, 2021		108,929
Beginning Balance at Dec. 31, 2021	$ 215,313	$ 1,089	$ 869,059	$ (306)	$ (654,529)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)		293
Exercise of stock options	2,587	$ 3	2,584
Vesting of restricted stock units (in shares)		809
Vesting of restricted stock units	0	$ 8	(8)
Issuance of common stock under employee stock purchase plan (in shares)		256
Issuance of common stock under employee stock purchase plan	8,882	$ 3	8,879
Stock-based compensation	25,749		25,749
Other comprehensive income (loss)	(1,057)			(1,057)
Net loss	(24,506)				(24,506)
Ending Balance (in shares) at Mar. 31, 2022		110,287
Ending Balance at Mar. 31, 2022	$ 226,968	$ 1,103	906,263	(1,363)	(679,035)
Beginning Balance (in shares) at Dec. 31, 2022	113,056	113,056
Beginning Balance at Dec. 31, 2022	$ 270,866	$ 1,131	1,017,837	(1,351)	(746,751)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)	80	80
Exercise of stock options	$ 942	$ 1	941
Vesting of restricted stock units (in shares)		1,243
Vesting of restricted stock units	0	$ 11	(11)
Vesting of performance stock units (in shares)		52
Vesting of performance stock units	0	$ 1	(1)
Issuance of common stock under employee stock purchase plan (in shares)		312
Issuance of common stock under employee stock purchase plan	9,914	$ 3	9,911
Stock-based compensation	34,374		34,374
Other comprehensive income (loss)	680			680
Net loss	$ (25,097)				(25,097)
Ending Balance (in shares) at Mar. 31, 2023	114,743	114,743
Ending Balance at Mar. 31, 2023	$ 291,679	$ 1,147	$ 1,063,051	$ (671)	$ (771,848)