Consolidated Statements of Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive loss	Accumulated deficit
Balance at the beginning at Dec. 31, 2021	$ 109,700		$ 252,468	$ (119)	$ (142,649)
Balance at the beginning (in shares) at Dec. 31, 2021		2,336
Issuance of common stock under Equity Purchase Agreement(Value)	273		273
Issuance of common stock under Equity Purchase Agreement (Share)		7
Issuance of common stock under employee stock purchase plan	143		143
Issuance of common stock under employee stock purchase plan (Share)		23
Repurchase of early exercised stock options, shares		(1)
Repurchase and cancelation of common stock	(2,607)		(2,607)
Repurchase and cancellation of common stock (Share)		(359)
Vesting of early exercised stock options	101		101
Stock-based compensation expense	4,517		4,517
Other comprehensive loss	(122)			(122)
Net loss	(36,004)				(36,004)
Balance at the end at Dec. 31, 2022	76,001		254,895	(241)	(178,653)
Balance at the end (in shares) at Dec. 31, 2022		2,006
Issuance of common stock under employee stock purchase plan	332		332
Issuance of common stock under employee stock purchase plan (Share)		58
Issuance of common stock upon option exercises	3		3
Redemption of fractional shares due to reverse stock split, value	(4)		(4)
Repurchase of early exercised stock options, shares		(1)
Repurchase and cancelation of common stock	0
Vesting of early exercised stock options	32		32
Stock-based compensation expense	4,372		4,372
Other comprehensive loss	241			$ 241
Net loss	(43,042)				(43,042)
Balance at the end at Dec. 31, 2023	$ 37,935		$ 259,630		$ (221,695)
Balance at the end (in shares) at Dec. 31, 2023		2,063