Condensed Consolidated Statements of Stockholders' Deficit - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income	Accumulated Deficit
Common stock, shares outstanding, beginning balance (in shares) at Dec. 31, 2022		187,906
Beginning 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	(53,333)				(53,333)
Other comprehensive income (loss)	559			559
Exercise of stock options, net (in shares)		702
Exercise of stock options, net	3,502	$ 7	3,495
Vesting of restricted stock units (in shares)		99
Vesting of restricted stock units	$ 0	$ 1	(1)
Employee stock purchase plan sales, net (in shares)	176	176
Employee stock purchase plan sales	$ 1,575	$ 2	1,573
Stock-based compensation expense	14,007		14,007
Common stock, shares outstanding, ending balance (in shares) at Mar. 31, 2023		188,883
Ending balance at Mar. 31, 2023	$ (328,287)	$ 1,889	1,177,192	585	(1,507,953)
Common stock, shares outstanding, beginning balance (in shares) at Dec. 31, 2023	205,771	205,771
Beginning balance at Dec. 31, 2023	$ (455,528)	$ 2,058	1,222,236	1,337	(1,681,159)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(35,379)				(35,379)
Other comprehensive income (loss)	(566)			(566)
Exercise of stock options, net (in shares)		176
Exercise of stock options, net	552	$ 2	550
Vesting of restricted stock units (in shares)		155
Vesting of restricted stock units	0	$ 1	(1)
Shares withheld for taxes for vesting of restricted stock units (in shares)		(8)
Shares withheld for taxes for vesting of restricted stock units	$ (38)		(38)
Employee stock purchase plan sales, net (in shares)	251	251
Employee stock purchase plan sales	$ 1,129	$ 2	1,127
Issuance of shares to directors in lieu of cash retainer (in shares)		2
Issuance of shares to directors in lieu of cash retainer	11		11
Stock-based compensation expense	$ 13,652		13,652
Common stock, shares outstanding, ending balance (in shares) at Mar. 31, 2024	206,347	206,347
Ending balance at Mar. 31, 2024	$ (476,167)	$ 2,063	$ 1,237,537	$ 771	$ (1,716,538)