Condensed Consolidated Statements of Stockholders' Equity (Unaudited) - USD ($) $ in Thousands	September 2021 ATM [Member] Common Stock [Member]	September 2021 ATM [Member] Treasury Stock, Common [Member]	September 2021 ATM [Member] Additional Paid-in Capital [Member]	September 2021 ATM [Member] Retained Earnings [Member]	September 2021 ATM [Member] AOCI Attributable to Parent [Member]	September 2021 ATM [Member]	The 2023 Shelf Registration [Member] Common Stock [Member]	The 2023 Shelf Registration [Member] Treasury Stock, Common [Member]	The 2023 Shelf Registration [Member] Additional Paid-in Capital [Member]	The 2023 Shelf Registration [Member] Retained Earnings [Member]	The 2023 Shelf Registration [Member] AOCI Attributable to Parent [Member]	The 2023 Shelf Registration [Member]	Common Stock [Member]	Treasury Stock, Common [Member]	Additional Paid-in Capital [Member]	Retained Earnings [Member]	AOCI Attributable to Parent [Member]	Total
Balances (in shares) at Dec. 31, 2021													125,594,393
Balances at Dec. 31, 2021													$ 13		$ 406,943	$ (219,351)	$ (74)	$ 187,531
Stock-based compensation													0		10,194	0	0	10,194
Unrealized gains on available-for-sale investments													0		0	0	(444)	(444)
Net loss													$ 0		0	(83,840)	0	$ (83,840)
Issuance of common stock (in shares)	2,565,022
Issuance of common stock	$ 0		$ 8,650	$ 0	$ 0	$ 8,650
Issuance of common stock upon exercise of stock options (in shares)													166,993					166,993
Issuance of common stock upon exercise of stock options													$ 0		214	0	0	$ 214
Issuance of common stock upon exercise of warrants (in shares)													5,000
Issuance of common stock upon exercise of warrants													$ 0		2	0	0	2
Balances (in shares) at Sep. 30, 2022													128,331,408
Balances at Sep. 30, 2022													$ 13		426,003	(303,191)	(518)	122,307
Balances (in shares) at Jun. 30, 2022													126,446,036
Balances at Jun. 30, 2022													$ 13		417,372	(273,882)	(409)	143,094
Stock-based compensation													0		3,643	0	0	3,643
Unrealized gains on available-for-sale investments													0		0	0	(109)	(109)
Net loss													$ 0		0	(29,309)	0	(29,309)
Issuance of common stock (in shares)	1,789,022
Issuance of common stock	$ 0		4,853	0	0	4,853
Issuance of common stock upon exercise of stock options (in shares)													96,350
Issuance of common stock upon exercise of stock options													$ 0		135	0	0	135
Balances (in shares) at Sep. 30, 2022													128,331,408
Balances at Sep. 30, 2022													$ 13		426,003	(303,191)	(518)	122,307
Balances (in shares) at Dec. 31, 2022													134,199,429	0
Balances at Dec. 31, 2022													$ 13	$ 0	437,992	(327,109)	(299)	110,597
Release of common stock for vested restricted stock units (in shares)													163,766	0
Release of common stock for vested restricted stock units													$ 0	$ 0	0	0	0	0
Repurchase of common stock to satisfy tax withholding (in shares)													0	(43,838)
Repurchase of common stock to satisfy tax withholding													$ 0	$ (39)	0	0	0	(39)
Stock-based compensation													0	0	10,417	0	0	10,417
Unrealized gains on available-for-sale investments													0	0	0	0	288	288
Net loss													$ 0	$ 0	0	(65,090)	0	$ (65,090)
Issuance of common stock (in shares)	1,362,220	0					16,000,000	0
Issuance of common stock	$ 1	$ 0	$ 1,429	$ 0	$ 0	$ 1,430	$ 1	$ 0	$ 13,602	$ 0	$ 0	$ 13,603
Issuance of common stock upon exercise of stock options (in shares)													54,720	0				54,720
Issuance of common stock upon exercise of stock options													$ 0	$ 0	17	0	0	$ 17
Issuance of common stock under ESPP (in shares)													301,061	0
Issuance of common stock under ESPP													$ 0	$ 0	298	0	0	298
Balances (in shares) at Sep. 30, 2023													152,081,196	(43,838)
Balances at Sep. 30, 2023													$ 15	$ (39)	463,755	(392,199)	(11)	71,521
Balances (in shares) at Jun. 30, 2023													152,016,238	(33,246)
Balances at Jun. 30, 2023													$ 15	$ (31)	459,912	(374,799)	(24)	85,073
Release of common stock for vested restricted stock units (in shares)													64,958	0
Release of common stock for vested restricted stock units													$ 0	$ 0	0	0	0	0
Repurchase of common stock to satisfy tax withholding (in shares)													0	(10,592)
Repurchase of common stock to satisfy tax withholding													$ 0	$ (8)	0	0	0	(8)
Stock-based compensation													0	0	3,843	0	0	3,843
Unrealized gains on available-for-sale investments													0	0	0	0	13	13
Net loss													$ 0	$ 0	0	(17,400)	0	(17,400)
Balances (in shares) at Sep. 30, 2023													152,081,196	(43,838)
Balances at Sep. 30, 2023													$ 15	$ (39)	$ 463,755	$ (392,199)	$ (11)	$ 71,521