CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Common stock	Treasury Stock, Common	Additional paid-in capital	Accumulated deficit	Accumulated other comprehensive loss	Total stockholders' equity
Beginning balance (in shares) at Dec. 31, 2022		134,564,429
Beginning balance at Dec. 31, 2022	$ 43,346	$ 13	$ (4,881)		$ (439,644)	$ (301)	$ (391,129)
Treasury stock, beginning balance (in shares) at Dec. 31, 2022			7,685,190
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	14,959				14,959
Issuance of common stock upon exercise of stock options (in shares)		3,229,049
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units	751	$ 0			751
Other comprehensive losses	40					40
Net loss	(23,573)						(23,573)
Ending balance (in shares) at Jun. 30, 2023		137,793,478
Ending balance at Jun. 30, 2023	$ 35,523	$ 13	$ (4,881)		455,354	(261)	(414,702)
Treasury stock, ending balance (in shares) at Jun. 30, 2023	7,685,190		7,685,190
Beginning balance (in shares) at Mar. 31, 2023		135,695,254
Beginning balance at Mar. 31, 2023		$ 13	$ 4,881	$ 447,316	(403,924)	(553)	37,971
Treasury stock, beginning balance (in shares) at Mar. 31, 2023			7,685,190
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	$ 7,668				7,668
Issuance of common stock upon exercise of stock options (in shares)		2,098,224
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units	370	$ 0			370
Other comprehensive losses	292					292
Net loss	(10,778)						(10,778)
Ending balance (in shares) at Jun. 30, 2023		137,793,478
Ending balance at Jun. 30, 2023	$ 35,523	$ 13	$ (4,881)		455,354	(261)	(414,702)
Treasury stock, ending balance (in shares) at Jun. 30, 2023	7,685,190		7,685,190
Beginning balance (in shares) at Dec. 31, 2023	142,588,917	142,588,917
Beginning balance at Dec. 31, 2023	$ 30,320	$ 14	$ 4,881		471,635	1,047	(437,495)
Treasury stock, beginning balance (in shares) at Dec. 31, 2023	7,751,795		7,685,190
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	$ 15,621				15,621
Treasury Stock, Value, Acquired, Cost Method	(85)		$ (85)
Treasury Stock, Shares, Acquired		(66,605)	(66,605)
Issuance of common stock upon exercise of stock options (in shares)		6,682,604
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units	151	$ 1			150
Other comprehensive losses	(1,430)					(1,430)
Net loss	$ (21,100)						(21,100)
Ending balance (in shares) at Jun. 30, 2024	149,204,916	149,204,916
Ending balance at Jun. 30, 2024	$ 23,477	$ 15	$ (4,966)		487,406	(383)	(458,595)
Treasury stock, ending balance (in shares) at Jun. 30, 2024	7,751,795		7,751,795
Beginning balance (in shares) at Mar. 31, 2024		146,346,306
Beginning balance at Mar. 31, 2024	$ 25,136	$ 14	$ (4,881)		478,292	302	(448,591)
Treasury stock, beginning balance (in shares) at Mar. 31, 2024			7,685,190
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	9,038				9,038
Treasury Stock, Value, Acquired, Cost Method	(85)		$ (85)
Treasury Stock, Shares, Acquired		(66,605)	(66,605)
Issuance of common stock upon exercise of stock options (in shares)		2,925,215
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units	77	$ 1			76
Other comprehensive losses	(685)					(685)
Net loss	$ (10,004)						(10,004)
Ending balance (in shares) at Jun. 30, 2024	149,204,916	149,204,916
Ending balance at Jun. 30, 2024	$ 23,477	$ 15	$ (4,966)		$ 487,406	$ (383)	$ (458,595)
Treasury stock, ending balance (in shares) at Jun. 30, 2024	7,751,795		7,751,795