Consolidated Statements of Stockholders' Deficit - USD ($) $ in Thousands	Total	Common Stock	Common Stock Restricted Stock Units (RSUs)	Additional Paid-In Capital	Additional Paid-In Capital Restricted Stock Units (RSUs)	Accumulated Other Comprehensive Income	Accumulated Deficit
Beginning balance at Dec. 31, 2020	$ (19,262)	$ 1,769		$ 1,002,408		$ 3	$ (1,023,442)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(184,062)						(184,062)
Other comprehensive income	174					174
Exercise of stock options, net	13,745	33		13,712
Employee stock purchase plan sales, net	1,989	3		1,986
Issuance of common stock, net	45,730	38		45,692
Issuance of shares to directors in lieu of cash retainer	60			60
Stock-based compensation expense	34,640			34,640
Ending balance at Dec. 31, 2021	(106,986)	1,843		1,098,498		177	(1,207,504)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(247,116)						(247,116)
Other comprehensive income	(151)					(151)
Exercise of stock options, net	11,900	26		11,874
Employee stock purchase plan sales, net	2,862	3		2,859
Issuance of common stock, net	3	3
Issuance of shares to directors in lieu of cash retainer	190			190
Stock-based compensation expense	44,701			44,701
Vesting of restricted stock units			$ 4		$ (4)
Ending balance at Dec. 31, 2022	(294,597)	1,879		1,158,118		26	(1,454,620)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(226,539)						(226,539)
Other comprehensive income	1,311					1,311
Exercise of stock options, net	6,114	13		6,101
Employee stock purchase plan sales, net	2,596	4		2,592
Issuance of shares to directors in lieu of cash retainer	342			342
Stock-based compensation expense	55,615			55,615
Vesting of restricted stock units			$ 13		$ (13)
Shares withheld for taxes for vesting of restricted stock units, 59 shares	(370)	(1)		(369)
Exercise of warrants, 14,997 shares		150		(150)
Ending balance at Dec. 31, 2023	$ (455,528)	$ 2,058		$ 1,222,236		$ 1,337	$ (1,681,159)