Condensed Consolidated Statements of Stockholder's Equity - USD ($) $ in Thousands	Common Stock At-the-market offering	Common Stock	Additional Paid-In Capital At-the-market offering	Additional Paid-In Capital	Accumulated Other Comprehensive (Loss) Gain	Accumulated Deficit	At-the-market offering	Total
Balance, Beginning at Dec. 31, 2020				$ 563,389	$ 28	$ (283,811)		$ 279,606
Balance, Beginning (in shares) at Dec. 31, 2020		43,745,465
Increase (Decrease) in Stockholders' Equity
Issuance of common stock pursuant to public offering, net of issuance costs				123,804				123,804
Issuance of common stock pursuant to public offering, net of issuance costs (in shares)		3,503,311
Issuance of common stock under equity incentive and employee stock purchase plans				3,944				3,944
Issuance of common stock under equity incentive and employee stock purchase plans (in shares)		429,938
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units				(189)				(189)
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units (in shares)		(7,060)
Stock-based compensation expense				11,371				11,371
Other comprehensive gain (loss)					(232)			(232)
Net loss						(88,644)		(88,644)
Balance, Ending at Sep. 30, 2021				702,319	(204)	(372,455)		329,660
Balance, Ending (in shares) at Sep. 30, 2021		47,671,654
Balance, Beginning at Jun. 30, 2021				696,157	(59)	(338,651)		357,447
Balance, Beginning (in shares) at Jun. 30, 2021		47,525,560
Increase (Decrease) in Stockholders' Equity
Issuance of common stock pursuant to public offering, net of issuance costs				6				6
Issuance of common stock under equity incentive and employee stock purchase plans				1,381				1,381
Issuance of common stock under equity incentive and employee stock purchase plans (in shares)		146,094
Stock-based compensation expense				4,775				4,775
Other comprehensive gain (loss)					(145)			(145)
Net loss						(33,804)		(33,804)
Balance, Ending at Sep. 30, 2021				702,319	(204)	(372,455)		329,660
Balance, Ending (in shares) at Sep. 30, 2021		47,671,654
Balance, Beginning at Dec. 31, 2021				709,682	(299)	(409,362)		$ 300,021
Balance, Beginning (in shares) at Dec. 31, 2021		47,838,330						47,838,330
Increase (Decrease) in Stockholders' Equity
Issuance of common stock pursuant to public offering, net of issuance costs			$ 14,553				$ 14,553
Issuance of common stock pursuant to public offering, net of issuance costs (in shares)	422,367
Issuance of common stock under equity incentive and employee stock purchase plans				3,895				$ 3,895
Issuance of common stock under equity incentive and employee stock purchase plans (in shares)		545,443
Issuance of common stock upon exercise of Exchange Warrants (in shares)		399,997
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units				(188)				(188)
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units (in shares)		7,726
Stock-based compensation expense				18,690				18,690
Issuance costs related to prior period common stock offering				25				25
Other comprehensive gain (loss)					(181)			(181)
Net loss						(93,199)		(93,199)
Balance, Ending at Sep. 30, 2022				746,657	(480)	(502,561)		$ 243,616
Balance, Ending (in shares) at Sep. 30, 2022		49,198,411						49,198,411
Balance, Beginning at Jun. 30, 2022				740,027	(720)	(471,329)		$ 267,978
Balance, Beginning (in shares) at Jun. 30, 2022		48,683,931
Increase (Decrease) in Stockholders' Equity
Issuance of common stock under equity incentive and employee stock purchase plans				680				680
Issuance of common stock under equity incentive and employee stock purchase plans (in shares)		114,483
Issuance of common stock upon exercise of Exchange Warrants (in shares)		399,997
Stock-based compensation expense				5,950				5,950
Other comprehensive gain (loss)					240			240
Net loss						(31,232)		(31,232)
Balance, Ending at Sep. 30, 2022				$ 746,657	$ (480)	$ (502,561)		$ 243,616
Balance, Ending (in shares) at Sep. 30, 2022		49,198,411						49,198,411