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, 2021		48,688,875
Beginning 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 gain (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)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock pursuant to the at-the-market equity program, net (in shares)		11,186,142
Issuance of common stock pursuant to the at-the-market equity program, net	57,673	$ 1	57,672
Exercise of stock options and release of stock units (in shares)		13,096
Exercise of stock options and release of stock units	58		58
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)		117,745
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(110)		(110)
Issuance of common stock under the 2020 ESPP (in shares)		133,784
Issuance of common stock under the 2020 ESPP	368		368
Stock-based compensation	27,235		27,235
Unrealized gain (loss) on marketable securities	4,010			4,010
Net loss	(132,493)				(132,493)
Other (in shares)		50,205
Other	139		139
Ending balance (in shares) at Dec. 31, 2023		60,467,188
Ending balance at Dec. 31, 2023	$ 246,114	$ 6	$ 774,618	$ (127)	$ (528,383)