Statements of Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Common Stock	Treasury Stock	Additional Paid-in Capital	Accumulated Deficit	At-the-Market Offering Program	At-the-Market Offering Program Common Stock	At-the-Market Offering Program Additional Paid-in Capital	Underwritten Public Offering	Underwritten Public Offering Common Stock	Underwritten Public Offering Additional Paid-in Capital
Beginning balance at Dec. 31, 2021	$ 72,156	$ 3		$ 601,523	$ (529,370)
Beginning balance, shares at Dec. 31, 2021		30,511,226	1
Cashless exercise of common stock warrants, shares		7,359,285	18
401(k) matching contribution	$ 1,116			1,116
401(k) matching contribution, shares	101,540	101,540
Vesting of restricted shares, shares		992,825
Issuance of common stock, net						$ 24,595		$ 24,595
Issuance of common stock, shares							2,414,897
Stock-based compensation	$ 24,133			24,133
ESPP shares issued	909			909
ESPP shares issued, shares		89,098
Net loss	(197,723)				(197,723)
Ending balance at Dec. 31, 2022	$ (74,814)	$ 3		652,276	(727,093)
Ending balance, shares at Dec. 31, 2022	41,468,871	41,468,871	19
Issuance of common stock from exercise of stock options	$ 124			124
Issuance of common stock from exercise of stock options, shares		16,421
401(k) matching contribution	$ 1,612			1,612
401(k) matching contribution, shares	135,956	135,956
Vesting of restricted shares, performance stock units, and restricted stock units	$ 6			6
Vesting of restricted shares, performance stock units, and restricted stock units, shares		1,843,954
Issuance of common stock, net						$ 14,073	$ 1	$ 14,072	$ 141,390	$ 1	$ 141,389
Issuance of common stock, shares						3,929,116	1,514,219			12,793,750
Stock-based compensation	45,025			45,025
ESPP shares issued	1,417			1,417
ESPP shares issued, shares		196,873
Net loss	(201,592)				(201,592)
Ending balance at Dec. 31, 2023	$ (72,759)	$ 5		$ 855,921	$ (928,685)
Ending balance, shares at Dec. 31, 2023	57,970,044	57,970,044	19