CONDENSED 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, 2021	$ 184,731	$ 4	$ 487,347	$ (303,072)	$ 452
Beginning balance, Shares at Dec. 31, 2021		42,690,229
Issuance of common stock upon exercise of stock options	10		10
Issuance of common stock upon exercise of stock options, shares		4,966
Stock-based compensation expense related to employee stock awards	3,480		3,480
Stock-based compensation expense related to employee stock purchases	444		444
Vesting of early exercised common stock options	84		84
Other comprehensive income (loss)	(248)				(248)
Net loss	(35,615)			(35,615)
Ending balance at Mar. 31, 2022	152,886	$ 4	491,365	(338,687)	204
Ending balance, Shares at Mar. 31, 2022		42,695,195
Beginning balance at Dec. 31, 2022	103,900	$ 4	502,613	(399,118)	401
Beginning balance, Shares at Dec. 31, 2022		42,922,980
Issuance of common stock upon exercise of stock options	23		23
Issuance of common stock upon exercise of stock options, shares		17,109
Stock-based compensation expense related to employee stock awards	3,503		3,503
Stock-based compensation expense related to employee stock purchases	161		161
Vesting of early exercised common stock options	20		20
Other comprehensive income (loss)	98				98
Net loss	(22,955)			(22,955)
Ending balance at Mar. 31, 2023	$ 84,750	$ 4	$ 506,320	$ (422,073)	$ 499
Ending balance, Shares at Mar. 31, 2023		42,940,089