Condensed Consolidated Statements of Stockholders’ Equity - USD ($) $ in Thousands	Total	Stock Purchase Agreement	At-The-Market	Common Stock	Common Stock Stock Purchase Agreement	Common Stock At-The-Market	Additional Paid-In Capital	Additional Paid-In Capital Stock Purchase Agreement	Additional Paid-In Capital At-The-Market	Accumulated Other Comprehensive Loss	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2022				48,966,216
Beginning 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 upon exercise of stock options (in shares)				11,759
Issuance of common stock upon exercise of stock options	56						56
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)				48,730
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(94)						(94)
Issuances of common stock under 2020 ESPP (in shares)				20,748
Issuance of common stock under 2020 ESPP	104						104
Stock-based compensation	6,251						6,251
Change in unrealized loss, net on marketable securities	1,667									1,667
Net loss	(34,780)										(34,780)
Other (in shares)				5,056
Other	32						32
Ending balance (in shares) at Mar. 31, 2023				49,052,509
Ending balance at Mar. 31, 2023	262,470			$ 5			695,605			(2,470)	(430,670)
Beginning balance (in shares) at Dec. 31, 2023				60,467,188
Beginning balance at Dec. 31, 2023	246,114			$ 6			774,618			(127)	(528,383)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock, net (in shares)					5,567,928	2,500,601
Issuance of common stock, net		$ 20,000	$ 14,089		$ 1			$ 19,999	$ 14,089
Issuance of common stock upon exercise of stock options (in shares)				80,936
Issuance of common stock upon exercise of stock options	519						519
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)				121,516
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(109)						(109)
Issuances of common stock under 2020 ESPP (in shares)				34,902
Issuance of common stock under 2020 ESPP	84						84
Stock-based compensation	6,215						6,215
Change in unrealized loss, net on marketable securities	(253)									(253)
Net loss	(28,361)										(28,361)
Other (in shares)				5,520
Other	(16)						(16)
Ending balance (in shares) at Mar. 31, 2024				68,778,591
Ending balance at Mar. 31, 2024	$ 258,282			$ 7			$ 815,399			$ (380)	$ (556,744)