CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive (Loss) Income	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2019		98,587
Beginning balance at Dec. 31, 2019	$ 98,905	$ 986	$ 662,990	$ 50	$ (565,121)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)	2,956	2,956
Exercise of stock options	$ 21,709	$ 29	21,680
Vesting of restricted stock units (in shares)		1,504
Vesting of restricted stock units	0	$ 15	(15)
Issuance of common stock under employee stock purchase plan (in shares)		668
Issuance of common stock under employee stock purchase plan	13,040	$ 7	13,033
Stock-based compensation	59,782		59,782
Other comprehensive loss	(40)			(40)
Net loss	(42,731)				(42,731)
Ending balance (in shares) at Dec. 31, 2020		103,715
Ending balance at Dec. 31, 2020	$ 150,665	$ 1,037	757,470	10	(607,852)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)	2,671	2,671
Exercise of stock options	$ 18,268	$ 26	18,242
Vesting of restricted stock units (in shares)		1,872
Vesting of restricted stock units	0	$ 19	(19)
Issuance of common stock under employee stock purchase plan (in shares)		671
Issuance of common stock under employee stock purchase plan	13,736	$ 7	13,729
Stock-based compensation	79,637		79,637
Other comprehensive loss	(316)			(316)
Net loss	$ (46,677)				(46,677)
Ending balance (in shares) at Dec. 31, 2021	108,929	108,929
Ending 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)	1,174	1,174
Exercise of stock options	$ 11,721	$ 12	11,709
Vesting of restricted stock units (in shares)		2,510
Vesting of restricted stock units	0	$ 25	(25)
Issuance of common stock under employee stock purchase plan (in shares)		443
Issuance of common stock under employee stock purchase plan	14,791	$ 5	14,786
Stock-based compensation	122,308		122,308
Other comprehensive loss	(1,045)			(1,045)
Net loss	$ (92,222)				(92,222)
Ending balance (in shares) at Dec. 31, 2022	113,056	113,056
Ending balance at Dec. 31, 2022	$ 270,866	$ 1,131	$ 1,017,837	$ (1,351)	$ (746,751)