Consolidated Statements of Comprehensive Loss - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Comprehensive Income [Abstract]
Net loss	$ (96,015)	$ (85,981)	$ (72,188)
Other comprehensive income (loss):
Unrealized gain (loss) on available-for-sale securities	83	(23)	(45)
Comprehensive loss	$ (95,932)	$ (86,004)	$ (72,233)