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, 2022		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
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
Ending Balance at Mar. 31, 2023	291,679	$ 1,147	1,063,051		(671)	(771,848)
Beginning Balance (in shares) at Dec. 31, 2023		117,504
Beginning Balance at Dec. 31, 2023	$ 346,344	$ 1,175	1,185,100	$ (14,934)	38	(825,035)
Increase (Decrease) in Stockholders' Deficit [Roll Forward]
Exercise of stock options (in shares)	455	455
Exercise of stock options	$ 1,874	$ 5	1,869
Vesting of restricted stock units (in shares)		1,313
Vesting of restricted stock units	0	$ 13	(13)
Vesting of performance stock units (in shares)		48
Issuance of common stock under employee stock purchase plan (in shares)		305
Issuance of common stock under employee stock purchase plan	9,884	$ 3	9,881
Purchase of treasury stock	(24,991)			(24,991)
Stock-based compensation	40,446		40,446
Other comprehensive income (loss)	(223)				(223)
Net loss	(14,386)					(14,386)
Ending Balance (in shares) at Mar. 31, 2024		119,625
Ending Balance at Mar. 31, 2024	$ 358,948	$ 1,196	$ 1,237,283	$ (39,925)	$ (185)	$ (839,421)