CONDENSED CONSOLIDATED STATEMENTS OF CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS' EQUITY (DEFICIT) (UNAUDITED) - USD ($) $ in Thousands	Total	Common Stock [Member]	Additional Paid-in Capital [Member]	Accumulated other comprehensive loss	Accumulated Deficit [Member]
Beginning balance at Dec. 31, 2021	$ 456,376	$ 21	$ 619,841	$ (524)	$ (162,962)
Beginning balance, Shares at Dec. 31, 2021		214,997,014
Share-based compensation	5,784		5,784
Issuance of common stock upon exercise of stock options	186	$ 1	185
Issuance of common stock upon exercise of stock options, Shares		1,029,266
Issuance of common stock upon release of restricted stock units, Shares		671,621
Shares withheld for the withholding tax on vesting of restricted stock	(244)		(244)
Shares withheld for the withholding tax on vesting of restricted stock, Shares		(53,553)
Issuance of common stock upon exercise of warrants	1		1
Issuance of common stock upon exercise of warrants, shares		120
Unrealized gain (loss) on available-for-sale securities	(2,455)			(2,455)
Net loss	(33,157)				(33,157)
Ending balance at Mar. 31, 2022	426,491	$ 22	625,567	(2,979)	(196,119)
Ending balance, Shares at Mar. 31, 2022		216,644,468
Beginning balance at Dec. 31, 2021	456,376	$ 21	619,841	(524)	(162,962)
Beginning balance, Shares at Dec. 31, 2021		214,997,014
Unrealized gain (loss) on available-for-sale securities	(4,157)
Net loss	(104,631)
Ending balance at Sep. 30, 2022	365,528	$ 22	637,780	(4,681)	(267,593)
Ending balance, Shares at Sep. 30, 2022		218,152,618
Beginning balance at Mar. 31, 2022	426,491	$ 22	625,567	(2,979)	(196,119)
Beginning balance, Shares at Mar. 31, 2022		216,644,468
Share-based compensation	6,434		6,434
Issuance of common stock upon exercise of stock options	58		58
Issuance of common stock upon exercise of stock options, Shares		170,055
Issuance of common stock upon release of restricted stock units, Shares		458,399
Shares withheld for the withholding tax on vesting of restricted stock	(174)		(174)
Shares withheld for the withholding tax on vesting of restricted stock, Shares		(60,516)
Unrealized gain (loss) on available-for-sale securities	(950)			(950)
Net loss	(34,971)				(34,971)
Ending balance at Jun. 30, 2022	396,888	$ 22	631,885	(3,929)	(231,090)
Ending balance, Shares at Jun. 30, 2022		217,212,406
Share-based compensation	6,140		6,140
Issuance of common stock upon exercise of stock options	57		57
Issuance of common stock upon exercise of stock options, Shares		131,110
Issuance of common stock upon release of restricted stock units, Shares		929,585
Shares withheld for the withholding tax on vesting of restricted stock	(302)		(302)
Shares withheld for the withholding tax on vesting of restricted stock, Shares		(120,483)
Unrealized gain (loss) on available-for-sale securities	(752)			(752)
Net loss	(36,503)				(36,503)
Ending balance at Sep. 30, 2022	365,528	$ 22	637,780	(4,681)	(267,593)
Ending balance, Shares at Sep. 30, 2022		218,152,618
Beginning balance at Dec. 31, 2022	329,926	$ 22	643,756	(3,585)	(310,267)
Beginning balance, Shares at Dec. 31, 2022		218,748,423
Share-based compensation	5,963		5,963
Issuance of common stock upon exercise of stock options	57		57
Issuance of common stock upon exercise of stock options, Shares		236,642
Issuance of common stock upon release of restricted stock units, Shares		1,077,527
Shares withheld for the withholding tax on vesting of restricted stock	(19)		(19)
Shares withheld for the withholding tax on vesting of restricted stock, Shares		(12,497)
Unrealized gain (loss) on available-for-sale securities	1,212			1,212
Net loss	(35,174)				(35,174)
Ending balance at Mar. 31, 2023	301,965	$ 22	649,757	(2,373)	(345,441)
Ending balance, Shares at Mar. 31, 2023		220,050,095
Beginning balance at Dec. 31, 2022	$ 329,926	$ 22	643,756	(3,585)	(310,267)
Beginning balance, Shares at Dec. 31, 2022		218,748,423
Issuance of common stock upon exercise of stock options, Shares	458,565
Unrealized gain (loss) on available-for-sale securities	$ 2,604
Net loss	(104,367)
Ending balance at Sep. 30, 2023	246,406	$ 22	661,999	(981)	(414,634)
Ending balance, Shares at Sep. 30, 2023		223,167,115
Beginning balance at Mar. 31, 2023	301,965	$ 22	649,757	(2,373)	(345,441)
Beginning balance, Shares at Mar. 31, 2023		220,050,095
Share-based compensation	7,041		7,041
Issuance of common stock upon exercise of stock options	59		59
Issuance of common stock upon exercise of stock options, Shares		118,314
Issuance of common stock upon release of restricted stock units, Shares		723,472
Unrealized gain (loss) on available-for-sale securities	477			477
Net loss	(35,955)				(35,955)
Ending balance at Jun. 30, 2023	273,587	$ 22	656,857	(1,896)	(381,396)
Ending balance, Shares at Jun. 30, 2023		220,891,881
Share-based compensation	5,149		5,149
Issuance of common stock upon exercise of stock options	36		36
Issuance of common stock upon exercise of stock options, Shares		103,609
Issuance of common stock upon release of restricted stock units, Shares		2,227,418
Shares withheld for the withholding tax on vesting of restricted stock	(43)		(43)
Shares withheld for the withholding tax on vesting of restricted stock, Shares		(55,793)
Unrealized gain (loss) on available-for-sale securities	915			915
Net loss	(33,238)				(33,238)
Ending balance at Sep. 30, 2023	$ 246,406	$ 22	$ 661,999	$ (981)	$ (414,634)
Ending balance, Shares at Sep. 30, 2023		223,167,115