Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2020		43,059,632
Beginning balance at Dec. 31, 2020	$ 280,791	$ 4	$ 464,597	$ 13	$ (183,823)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Follow-on common stock offering, net of issuance costs of $11.3 million (in shares)		4,887,500
Stock Issued During Period, Value, New Issues	169,465	$ 1	169,464
Shares issued upon warrant exercise—related party (in shares)		256,038
Exercise of stock options and release of stock units (in shares)		474,850
Exercise of stock options and release of stock units	2,330		2,330
Issuance of common stock under the 2020 ESPP (in shares)		6,640
Issuance of common stock under the 2020 ESPP	180		180
Stock-based compensation	21,340		21,340
Unrealized loss on marketable securities	(788)			(788)
Net loss	(83,892)				(83,892)
Other (in shares)		4,215
Other	180		180
Ending balance (in shares) at Dec. 31, 2021		48,688,875
Ending balance at Dec. 31, 2021	389,606	$ 5	658,091	(775)	(267,715)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options and release of stock units (in shares)		235,450
Exercise of stock options and release of stock units	777		777
Issuance of common stock under the 2020 ESPP (in shares)		31,402
Issuance of common stock under the 2020 ESPP	372		372
Stock-based compensation	29,858		29,858
Unrealized loss on marketable securities	(3,362)			(3,362)
Net loss	(128,175)				(128,175)
Other (in shares)		10,489
Other	158		158
Ending balance (in shares) at Dec. 31, 2022		48,966,216
Ending balance at Dec. 31, 2022	$ 289,234	$ 5	$ 689,256	$ (4,137)	$ (395,890)