CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit	Noncontrolling Interests
Balance at Dec. 31, 2020	$ 103,806	$ 168	$ 1,012,932	$ 674	$ (909,968)
Balance (in shares) at Dec. 31, 2020		168,170
Issuance of common stock from public offering, net of offering costs	3,069	$ 1	3,068
Issuance of common stock from public offering, net of offering costs (in shares)		400
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	9,370	$ 5	9,365
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		5,100
Stock-based compensation	23,571		23,571
Other comprehensive income (loss)	(823)			(823)
Equity contribution from noncontrolling interest	1,000					$ 1,000
Net loss	(54,376)				(54,374)	(2)
Balance at Dec. 31, 2021	85,617	$ 174	1,048,936	(149)	(964,342)	998
Balance (in shares) at Dec. 31, 2021		173,670
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	3,952	$ 3	3,949
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		3,912
Stock-based compensation	24,456		24,456
Other comprehensive income (loss)	(2,638)			(2,638)
Net loss	(42,825)				(42,779)	(46)
Balance at Dec. 31, 2022	68,562	$ 177	1,077,341	(2,787)	(1,007,121)	952
Balance (in shares) at Dec. 31, 2022		177,582
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	745	$ 4	741
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		3,666
Stock-based compensation	20,271		20,271
Other comprehensive income (loss)	1,513			1,513
Net loss	(37,647)				(37,489)	(158)
Balance at Dec. 31, 2023	$ 53,444	$ 181	$ 1,098,353	$ (1,274)	$ (1,044,610)	$ 794
Balance (in shares) at Dec. 31, 2023		181,248