CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Treasury Stock	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2020		103,715
Beginning balance at Dec. 31, 2020	$ 150,665	$ 1,037	$ 757,470	$ 0	$ 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 income (loss)	(316)				(316)
Net loss	(46,677)					(46,677)
Ending balance (in shares) at Dec. 31, 2021		108,929
Ending balance at Dec. 31, 2021	$ 215,313	$ 1,089	869,059	0	(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 income (loss)	(1,045)				(1,045)
Net loss	(92,222)					(92,222)
Ending balance (in shares) at Dec. 31, 2022		113,056
Ending balance at Dec. 31, 2022	$ 270,866	$ 1,131	1,017,837	0	(1,351)	(746,751)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)	387	387
Exercise of stock options	$ 3,501	$ 4	3,497
Vesting of restricted stock units (in shares)		3,153
Vesting of restricted stock units	0	$ 32	(32)
Vesting of performance stock units (in shares)		91
Issuance of restricted stock award (in shares)		311
Issuance of restricted stock awards	0	$ 3	(3)
Issuance of common stock under employee stock purchase plan (in shares)		506
Issuance of common stock under employee stock purchase plan	16,224	$ 5	16,219
Purchase of treasury stock	(14,934)			(14,934)
Fair value of replacement equity attributable to pre-acquisition service	526		526
Stock-based compensation	147,056		147,056
Other comprehensive income (loss)	1,389				1,389
Net loss	(78,284)					(78,284)
Ending balance (in shares) at Dec. 31, 2023		117,504
Ending balance at Dec. 31, 2023	$ 346,344	$ 1,175	$ 1,185,100	$ (14,934)	$ 38	$ (825,035)