Condensed Consolidated Statements of Stockholders' Equity (Unaudited) - 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		204,791,986
Beginning balance at Dec. 31, 2021	$ 334,619	$ 20	$ 613,687	$ (137)	$ (278,951)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon vesting of RSUs, net of shares withheld for taxes (in shares)		320,296
Payments for taxes related to net share settlement of equity awards	(404)		(404)
Exercise of vested stock options (in shares)		768,727
Exercise of vested stock options	891	$ 1	890
Vesting of early exercised stock options	38		38
Stock-based compensation	9,009		9,009
Other comprehensive income (loss)	(186)			(186)
Net loss	(16,252)				(16,252)
Ending balance (in shares) at Mar. 31, 2022		205,881,009
Ending balance at Mar. 31, 2022	327,715	$ 21	623,220	(323)	(295,203)
Beginning balance (in shares) at Dec. 31, 2022		208,429,312
Beginning balance at Dec. 31, 2022	311,741	$ 21	656,626	(277)	(344,629)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon vesting of RSUs, net of shares withheld for taxes (in shares)		751,486
Payments for taxes related to net share settlement of equity awards	(3,657)		(3,657)
Exercise of vested stock options (in shares)		131,246
Exercise of vested stock options	245		245
Stock-based compensation	14,317		14,317
Other comprehensive income (loss)	166			166
Net loss	(10,067)				(10,067)
Ending balance (in shares) at Mar. 31, 2023		209,312,044
Ending balance at Mar. 31, 2023	$ 312,745	$ 21	$ 667,531	$ (111)	$ (354,696)