Consolidated Statements of Stockholders' Equity (Deficit) - USD ($)	Total	ATM Offering	Direct Offering	Common Stock	Common Stock ATM Offering	Common Stock Direct Offering	Additional Paid-In-Capital	Additional Paid-In-Capital ATM Offering	Additional Paid-In-Capital Direct Offering	Accumulated Other Comprehensive Gain (Loss)	Accumulated Deficit
Balance at beginning at Dec. 31, 2020	$ 258,712,000			$ 4,000			$ 468,238,000			$ (3,000)	$ (209,527,000)
Balance at beginning (in shares) at Dec. 31, 2020				34,741,649
Exercise of stock options	750,000						750,000
Exercise of stock options (in shares)				140,128
Vesting of restricted stock	21,000						21,000
Issuance of common stock pursuant to ESPP purchases	373,000						373,000
Issuance of common stock pursuant to ESPP purchases (in shares)				18,950
Stock-based compensation expense	10,054,000						10,054,000
Net unrealized gain (loss) on marketable securities	(24,000)									(24,000)
Net loss	(100,777,000)										(100,777,000)
Balance at ending at Dec. 31, 2021	169,109,000			$ 4,000			479,436,000			(27,000)	(310,304,000)
Balance at ending (in shares) at Dec. 31, 2021				34,900,727
Exercise of stock options	5,238,000						5,238,000
Exercise of stock options (in shares)				559,145
Issuance of common stock pursuant to ESPP purchases	280,000						280,000
Issuance of common stock pursuant to ESPP purchases (in shares)				33,928
Issuance of common stock, net of issuance costs	24,647,000						24,647,000
Issuance of common stock (in shares)				2,525,252
Additional warrants to purchase shares	227,000						227,000
Issuance of common stock upon closing of follow-on public offering, net of issuance costs and underwriting fees (shares)				8,846,154
Issuance of common stock upon closing of follow-on public offering, net of issuance costs and underwriting fees	215,787,000			$ 1,000			215,786,000
Stock-based compensation expense	23,243,000						23,243,000
Net unrealized gain (loss) on marketable securities	64,000									64,000
Net loss	(112,033,000)										(112,033,000)
Balance at ending at Dec. 31, 2022	326,562,000			$ 5,000			748,857,000			37,000	(422,337,000)
Balance at ending (in shares) at Dec. 31, 2022				46,865,206
Exercise of stock options	$ 3,267,000						3,267,000
Exercise of stock options (in shares)	593,959			593,959
Common stock issued for vested restricted stock units, Shares				38,641
Issuance of common stock pursuant to ESPP purchases	$ 396,000						396,000
Issuance of common stock pursuant to ESPP purchases (in shares)				12,087
Issuance of common stock, net of issuance costs		$ 123,824,000	$ 210,956,000			$ 1,000		$ 123,824,000	$ 210,955,000
Issuance of common stock (in shares)					3,006,052	5,238,500
Additional warrants to purchase shares	330,000						330,000
Stock-based compensation expense	21,497,000						21,497,000
Net unrealized gain (loss) on marketable securities	233,000									233,000
Net loss	(151,759,000)										(151,759,000)
Balance at ending at Dec. 31, 2023	$ 535,306,000			$ 6,000			$ 1,109,126,000			$ 270,000	$ (574,096,000)
Balance at ending (in shares) at Dec. 31, 2023				55,754,445