CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($)	Total	Common Stock	Additional Paid-in Capital	Accumulated other comprehensive loss	Retained Earnings	Treasury Stock, Common
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Treasury Stock, Common, Shares						7,685,190
Class of Stock [Line Items]
Treasury Stock, Common, Shares						7,685,190
Total stockholders’ equity	$ 43,346,000	$ 13,000	$ 439,644,000	$ (301,000)	$ (391,129,000)	$ (4,881,000)
Common stock, shares outstanding (in shares)		134,564,429
Beginning balance (in shares) at Dec. 31, 2022		134,564,429
Beginning balance at Dec. 31, 2022	43,346,000	$ 13,000	439,644,000	(301,000)	(391,129,000)	(4,881,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		5,710,660
Stock Issued During Period, Value, Employee Stock Ownership Plan	1,040,000	$ 0	1,040,000
Other comprehensive income (loss)	(381,000)			(381,000)
Net loss	(34,299,000)				(34,299,000)
Ending balance (in shares) at Sep. 30, 2023		140,275,089
Ending balance at Sep. 30, 2023	32,177,000	$ 13,000	463,155,000	(682,000)	(425,428,000)	$ (4,881,000)
Class of Stock [Line Items]
APIC, Share-based Payment Arrangement, Increase for Cost Recognition	22,471,000		22,471,000
Issuance of common stock upon exercise of stock options (in shares)		5,710,660
Stock Issued During Period, Value, Employee Stock Ownership Plan	1,040,000	$ 0	1,040,000
Other comprehensive income (loss)	(381,000)			(381,000)
Net loss	(34,299,000)				(34,299,000)
Treasury Stock, Common, Shares						7,685,190
Treasury Stock, Common, Shares						7,685,190
Total stockholders’ equity	35,523,000	$ 13,000	455,354,000	(261,000)	(414,702,000)	$ (4,881,000)
Common stock, shares outstanding (in shares)		137,793,478
Beginning balance (in shares) at Jun. 30, 2023		137,793,478
Beginning balance at Jun. 30, 2023	35,523,000	$ 13,000	455,354,000	(261,000)	(414,702,000)	(4,881,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		2,481,611
Stock Issued During Period, Value, Employee Stock Ownership Plan	289,000	$ 0	289,000
Other comprehensive income (loss)	(421,000)			(421,000)
Net loss	(10,726,000)				(10,726,000)
Ending balance (in shares) at Sep. 30, 2023		140,275,089
Ending balance at Sep. 30, 2023	32,177,000	$ 13,000	463,155,000	(682,000)	(425,428,000)	$ (4,881,000)
Class of Stock [Line Items]
APIC, Share-based Payment Arrangement, Increase for Cost Recognition	7,512,000		7,512,000
Issuance of common stock upon exercise of stock options (in shares)		2,481,611
Stock Issued During Period, Value, Employee Stock Ownership Plan	289,000	$ 0	289,000
Other comprehensive income (loss)	(421,000)			(421,000)
Net loss	(10,726,000)				(10,726,000)
Treasury Stock, Common, Shares						7,685,190
Treasury Stock, Common, Shares						7,685,190
Total stockholders’ equity	$ 32,177,000	$ 13,000	463,155,000	(682,000)	(425,428,000)	$ (4,881,000)
Common stock, shares outstanding (in shares)		140,275,089
Treasury Stock, Common, Shares	7,685,190					7,685,190
Treasury Stock, Common, Shares	7,685,190					7,685,190
Total stockholders’ equity	$ 30,320,000	$ 14,000	471,635,000	1,047,000	(437,495,000)	$ (4,881,000)
Common stock, shares outstanding (in shares)	142,588,917	142,588,917
Beginning balance (in shares) at Dec. 31, 2023	142,588,917	142,588,917
Beginning balance at Dec. 31, 2023	$ 30,320,000	$ 14,000	471,635,000	1,047,000	(437,495,000)	$ (4,881,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		8,816,013
Treasury Stock, Shares, Acquired		1,758,929				1,758,929
Treasury Stock, Value, Acquired, Cost Method	$ 2,233,000					$ 2,233,000
Issuance of common stock upon exercise of stock options (shares)	813,110
Stock Issued During Period, Value, Employee Stock Ownership Plan	$ 178,000	$ 1,000	177,000
Other comprehensive income (loss)	(750,000)			(750,000)
Net loss	$ (24,710,000)				(24,710,000)
Ending balance (in shares) at Sep. 30, 2024	149,646,001	149,646,001
Ending balance at Sep. 30, 2024	$ 24,141,000	$ 15,000	493,148,000	297,000	(462,205,000)	$ (7,114,000)
Class of Stock [Line Items]
Treasury Stock, Shares, Acquired		1,758,929				1,758,929
Treasury Stock, Value, Acquired, Cost Method	2,233,000					$ 2,233,000
APIC, Share-based Payment Arrangement, Increase for Cost Recognition	21,336,000		21,336,000
Issuance of common stock upon exercise of stock options (in shares)		8,816,013
Stock Issued During Period, Value, Employee Stock Ownership Plan	178,000	$ 1,000	177,000
Other comprehensive income (loss)	(750,000)			(750,000)
Net loss	(24,710,000)				(24,710,000)
Treasury Stock, Common, Shares						7,751,795
Treasury Stock, Common, Shares						7,751,795
Total stockholders’ equity	23,477,000	$ 15,000	487,406,000	(383,000)	(458,595,000)	$ (4,966,000)
Common stock, shares outstanding (in shares)		149,204,916
Beginning balance (in shares) at Jun. 30, 2024		149,204,916
Beginning balance at Jun. 30, 2024	23,477,000	$ 15,000	487,406,000	(383,000)	(458,595,000)	$ (4,966,000)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		2,133,409
Treasury Stock, Shares, Acquired		1,692,324				1,692,324
Treasury Stock, Value, Acquired, Cost Method	2,148,000					$ 2,148,000
Stock Issued During Period, Value, Employee Stock Ownership Plan	27,000	$ 0	27,000
Other comprehensive income (loss)	680,000			680,000
Net loss	$ (3,610,000)				(3,610,000)
Ending balance (in shares) at Sep. 30, 2024	149,646,001	149,646,001
Ending balance at Sep. 30, 2024	$ 24,141,000	$ 15,000	493,148,000	297,000	(462,205,000)	$ (7,114,000)
Class of Stock [Line Items]
Treasury Stock, Shares, Acquired		1,692,324				1,692,324
Treasury Stock, Value, Acquired, Cost Method	2,148,000					$ 2,148,000
APIC, Share-based Payment Arrangement, Increase for Cost Recognition	5,715,000		5,715,000
Issuance of common stock upon exercise of stock options (in shares)		2,133,409
Stock Issued During Period, Value, Employee Stock Ownership Plan	27,000	$ 0	27,000
Other comprehensive income (loss)	680,000			680,000
Net loss	$ (3,610,000)				(3,610,000)
Treasury Stock, Common, Shares	9,444,119					9,444,119
Treasury Stock, Common, Shares	9,444,119					9,444,119
Total stockholders’ equity	$ 24,141,000	$ 15,000	$ 493,148,000	$ 297,000	$ (462,205,000)	$ (7,114,000)
Common stock, shares outstanding (in shares)	149,646,001	149,646,001