Consolidated statements of changes in stockholders' equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Deficit	Accumulated Other Comprehensive Income (Loss)
Beginning balance at Dec. 31, 2020	$ 220,039	$ 4	$ 394,963	$ (174,740)	$ (188)
Beginning balance, Shares at Dec. 31, 2020		38,120,606
Issuance of common stock upon exercise of stock options	394		394
Issuance of common stock upon exercise of stock options, shares		124,013
Stock Issued During Period, Value, Employee Stock Purchase Plan	653		653
Stock Issued During Period, Shares, Employee Stock Purchase Plans		45,610
Issuance of common stock, shares		4,400,000
Issuance of common stock	78,584		78,584
Costs related to the follow-on offering	(875)		(875)
Stock-based compensation expense related to employee stock awards	12,541		12,541
Stock-based compensation expense related to employee stock purchases	795		795
Vesting of early exercised common stock	292		292
Other comprehensive income (loss)	640				640
Net loss	(128,332)			(128,332)
Ending balance at Dec. 31, 2021	184,731	$ 4	487,347	(303,072)	452
Ending balance, Shares at Dec. 31, 2021		42,690,229
Issuance of common stock upon exercise of stock options	20	$ 0	20
Issuance of common stock upon exercise of stock options, shares		12,896
Stock Issued During Period, Value, Employee Stock Purchase Plan	205	$ 0	205
Stock Issued During Period, Shares, Employee Stock Purchase Plans		219,855
Stock-based compensation expense related to employee stock awards	13,540		13,540
Stock-based compensation expense related to employee stock purchases	1,292		1,292
Vesting of early exercised common stock	209		209
Other comprehensive income (loss)	(51)				(51)
Net loss	(96,046)			(96,046)
Ending balance at Dec. 31, 2022	$ 103,900	$ 4	$ 502,613	$ (399,118)	$ 401
Ending balance, Shares at Dec. 31, 2022		42,922,980