Consolidated Statements of Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Common stock	Additional paid-in capital	Accumulated other comprehensive loss	Accumulated deficit
Beginning Balance, Stockholders' equity at Dec. 31, 2019	$ 106,548	$ 21	$ 139,700	$ (3,939)	$ (29,234)
Beginning Balances, Stockholders' equity (in shares) at Dec. 31, 2019		21,419
Exercise of stock awards and employee stock plan purchases	3,685	$ 1	3,684
Exercise of stock awards and employee stock plan purchases (in shares)		539
Stock-based compensation	4,613		4,613
Net loss	(23,082)				(23,082)
Other comprehensive loss	1,815			1,815
Ending Balances, Stockholders' equity at Dec. 31, 2020	$ 93,579	$ 22	147,997	(2,124)	(52,316)
Ending Balances, Stockholders' equity (in shares) at Dec. 31, 2020	21,958	21,958
Issuance of common stock in public offering, net of issuance costs	$ 59,525	$ 5	59,520
Issuance of common stock in public offering, net of issuance costs (in shares)		4,600
Exercise of stock awards and employee stock plan purchases	6,829		6,829
Exercise of stock awards and employee stock plan purchases (in shares)		947
Stock-based compensation	8,990		8,990
Net loss	(34,683)				(34,683)
Other comprehensive loss	(2,333)			(2,333)
Ending Balances, Stockholders' equity at Dec. 31, 2021	$ 131,907	$ 27	$ 223,336	$ (4,457)	$ (86,999)
Ending Balances, Stockholders' equity (in shares) at Dec. 31, 2021	27,505	27,505