CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Accumulated Other Comprehensive Gain (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2022		47,253
Beginning balance at Dec. 31, 2022	$ 192,272	$ 593,245	$ (978)	$ (399,995)
Increase (Decrease) in Shareholders' Equity
Net loss	(7,495)			(7,495)
Stock-based compensation expense	8,731	$ 8,731
Stock option exercises (in shares)		132
Stock option exercises	2,009	$ 2,009
Shares issued under the Employee Stock Purchase Plan (in shares)		11
Shares issued under the Employee Stock Purchase Plan	216	$ 216
Issuance of stock for restricted stock unit vesting (in shares)		183
Restricted stock withheld for employee tax remittance (in shares)		(72)
Restricted stock withheld for employee tax remittance	(2,097)	$ (2,097)
Unrealized (loss) gain on investments	342		342
Ending balance (in shares) at Mar. 31, 2023		47,507
Ending balance at Mar. 31, 2023	$ 193,978	$ 602,104	(636)	(407,490)
Beginning balance (in shares) at Dec. 31, 2023	47,829	47,829
Beginning balance at Dec. 31, 2023	$ 225,952	$ 629,229	(100)	(403,177)
Increase (Decrease) in Shareholders' Equity
Net loss	(3,862)			(3,862)
Stock-based compensation expense	9,834	$ 9,834
Stock option exercises (in shares)		487
Stock option exercises	6,779	$ 6,779
Shares issued under the Employee Stock Purchase Plan (in shares)		9
Shares issued under the Employee Stock Purchase Plan	247	$ 247
Issuance of stock for restricted stock unit vesting (in shares)		265
Restricted stock withheld for employee tax remittance (in shares)		(101)
Restricted stock withheld for employee tax remittance	(4,909)	$ (4,909)
Unrealized (loss) gain on investments	$ (145)		(145)
Ending balance (in shares) at Mar. 31, 2024	48,489	48,489
Ending balance at Mar. 31, 2024	$ 233,896	$ 641,180	$ (245)	$ (407,039)