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 (loss) income	(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, 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]
Other comprehensive (loss) income	(331)
Net loss	(35,931)
Ending balance (in shares) at Jun. 30, 2022		206,850,227
Ending balance at Jun. 30, 2022	319,059	$ 21	634,388	(468)	(314,882)
Beginning balance (in shares) at Mar. 31, 2022		205,881,009
Beginning balance at Mar. 31, 2022	327,715	$ 21	623,220	(323)	(295,203)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon vesting of RSUs, net of shares withheld for taxes (in shares)		427,850
Payments for taxes related to net share settlement of equity awards	(779)		(779)
Exercise of vested stock options (in shares)		356,265
Exercise of vested stock options	579		579
Vesting of early exercised stock options	38		38
Issuance of common stock under employee stock purchase plan (in shares)		185,103
Issuance of common stock under employee stock purchase plan	553		553
Stock-based compensation	10,777		10,777
Other comprehensive (loss) income	(145)			(145)
Net loss	(19,679)				(19,679)
Ending balance (in shares) at Jun. 30, 2022		206,850,227
Ending balance at Jun. 30, 2022	319,059	$ 21	634,388	(468)	(314,882)
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 (loss) income	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)
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]
Other comprehensive (loss) income	19
Net loss	(17,224)
Ending balance (in shares) at Jun. 30, 2023		210,797,121
Ending balance at Jun. 30, 2023	320,071	$ 21	682,161	(258)	(361,853)
Beginning balance (in shares) at Mar. 31, 2023		209,312,044
Beginning balance at Mar. 31, 2023	312,745	$ 21	667,531	(111)	(354,696)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon vesting of RSUs, net of shares withheld for taxes (in shares)		1,017,129
Payments for taxes related to net share settlement of equity awards	(3,754)		(3,754)
Exercise of vested stock options (in shares)		211,002
Exercise of vested stock options	315		315
Issuance of common stock under employee stock purchase plan (in shares)		256,946
Issuance of common stock under employee stock purchase plan	898		898
Stock-based compensation	17,171		17,171
Other comprehensive (loss) income	(147)			(147)
Net loss	(7,157)				(7,157)
Ending balance (in shares) at Jun. 30, 2023		210,797,121
Ending balance at Jun. 30, 2023	$ 320,071	$ 21	$ 682,161	$ (258)	$ (361,853)