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)		932
Exercise of stock options	8,676	$ 9	8,667
Vesting of restricted stock units (in shares)		1,457
Vesting of restricted stock units	0	$ 15	(15)
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	58,209		58,209
Other comprehensive income (loss)	(1,550)			(1,550)
Net loss	(52,005)				(52,005)
Ending Balance (in shares) at Jun. 30, 2022		111,574
Ending Balance at Jun. 30, 2022	237,525	$ 1,116	944,799	(1,856)	(706,534)
Beginning Balance (in shares) at Mar. 31, 2022		110,287
Beginning Balance at Mar. 31, 2022	226,968	$ 1,103	906,263	(1,363)	(679,035)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)		639
Exercise of stock options	6,089	$ 6	6,083
Vesting of restricted stock units (in shares)		648
Vesting of restricted stock units	0	$ 7	(7)
Stock-based compensation	32,460		32,460
Other comprehensive income (loss)	(493)			(493)
Net loss	(27,499)				(27,499)
Ending Balance (in shares) at Jun. 30, 2022		111,574
Ending Balance at Jun. 30, 2022	$ 237,525	$ 1,116	944,799	(1,856)	(706,534)
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)	166	166
Exercise of stock options	$ 1,537	$ 2	1,535
Vesting of restricted stock units (in shares)		1,930
Vesting of restricted stock units	0	$ 19	(19)
Vesting of performance stock units (in shares)		65
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	72,665		72,665
Other comprehensive income (loss)	650			650
Net loss	$ (41,071)				(41,071)
Ending Balance (in shares) at Jun. 30, 2023	115,529	115,529
Ending Balance at Jun. 30, 2023	$ 314,561	$ 1,156	1,101,928	(701)	(787,822)
Beginning Balance (in shares) at Mar. 31, 2023		114,743
Beginning Balance at Mar. 31, 2023	291,679	$ 1,147	1,063,051	(671)	(771,848)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)		86
Exercise of stock options	595	$ 1	594
Vesting of restricted stock units (in shares)		687
Vesting of restricted stock units	0	$ 8	(8)
Vesting of performance stock units (in shares)		13
Vesting of performance stock units	0
Stock-based compensation	38,291		38,291
Other comprehensive income (loss)	(30)			(30)
Net loss	$ (15,974)				(15,974)
Ending Balance (in shares) at Jun. 30, 2023	115,529	115,529
Ending Balance at Jun. 30, 2023	$ 314,561	$ 1,156	$ 1,101,928	$ (701)	$ (787,822)