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 Income (Loss)	Accumulated Deficit
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)
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]
Net loss	(70,743)
Ending balance (in shares) at Sep. 30, 2024				70,562,901
Ending balance at Sep. 30, 2024	242,656			$ 7			841,320			455	(599,126)
Beginning balance (in shares) at Mar. 31, 2024				68,778,591
Beginning balance at Mar. 31, 2024	258,282			$ 7			815,399			(380)	(556,744)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)				32,607
Issuance of common stock upon exercise of stock options	135						135
Stock-based compensation	6,381						6,381
Change in unrealized loss, net on marketable securities	(60)									(60)
Net loss	(17,716)										(17,716)
Other (in shares)				4,444
Other	36						36
Ending balance (in shares) at Jun. 30, 2024				68,815,642
Ending balance at Jun. 30, 2024	247,058			$ 7			821,951			(440)	(574,460)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock, net (in shares)						1,631,521
Issuance of common stock, net			$ 10,280						10,280
Issuance of common stock upon exercise of stock options (in shares)				1,714
Issuance of common stock upon exercise of stock options	13						13
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)				31,363
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(85)						(85)
Issuances of common stock under 2020 ESPP (in shares)				75,993
Issuance of common stock under 2020 ESPP	298						298
Stock-based compensation	8,831						8,831
Change in unrealized loss, net on marketable securities	895									895
Net loss	(24,666)										(24,666)
Other (in shares)				6,668
Other	32						32
Ending balance (in shares) at Sep. 30, 2024				70,562,901
Ending balance at Sep. 30, 2024	242,656			$ 7			841,320			455	(599,126)
Beginning balance (in shares) at Dec. 31, 2024				70,625,899
Beginning balance at Dec. 31, 2024	215,986			$ 7			849,625			53	(633,699)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)				321,342
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(155)						(155)
Issuances of common stock under 2020 ESPP (in shares)				35,589
Issuance of common stock under 2020 ESPP	109						109
Stock-based compensation	5,507						5,507
Change in unrealized loss, net on marketable securities	(10)									(10)
Net loss	(26,322)										(26,322)
Other (in shares)				6,831
Other	25						25
Ending balance (in shares) at Mar. 31, 2025				70,989,661
Ending balance at Mar. 31, 2025	195,140			$ 7			855,111			43	(660,021)
Beginning balance (in shares) at Dec. 31, 2024				70,625,899
Beginning balance at Dec. 31, 2024	215,986			$ 7			849,625			53	(633,699)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock, net (in shares)			2,950,225
Issuance of common stock, net			$ 7,500
Net loss	(84,508)
Ending balance (in shares) at Sep. 30, 2025				74,174,515
Ending balance at Sep. 30, 2025	154,408			$ 7			872,521			87	(718,207)
Beginning balance (in shares) at Mar. 31, 2025				70,989,661
Beginning balance at Mar. 31, 2025	195,140			$ 7			855,111			43	(660,021)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	4,992						4,992
Change in unrealized loss, net on marketable securities	(73)									(73)
Net loss	(26,020)										(26,020)
Other (in shares)				17,422
Other	25						25
Ending balance (in shares) at Jun. 30, 2025				71,007,083
Ending balance at Jun. 30, 2025	174,064			$ 7			860,128			(30)	(686,041)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock, net (in shares)			2,950,225			2,950,225
Issuance of common stock, net			$ 7,526						$ 7,526
Issuance of common stock upon exercise of stock options (in shares)				50,000
Issuance of common stock upon exercise of stock options	107						107
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)				14,868
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(24)						(24)
Issuances of common stock under 2020 ESPP (in shares)				135,114
Issuance of common stock under 2020 ESPP	164						164
Stock-based compensation	4,593						4,593
Change in unrealized loss, net on marketable securities	117									117
Net loss	(32,166)										(32,166)
Other (in shares)				17,225
Other	27						27
Ending balance (in shares) at Sep. 30, 2025				74,174,515
Ending balance at Sep. 30, 2025	$ 154,408			$ 7			$ 872,521			$ 87	$ (718,207)