CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income	Accumulated Deficit
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2020		32,583,220
Stockholders' equity, beginning of period at Dec. 31, 2020	$ 169,363	$ 3	$ 408,113	$ 524	$ (239,277)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		93,975
Issuance of common stock upon vesting of restricted stock units	601		601
Issuance of common stock upon vesting of restricted stock units (in shares)		131,339
Stock-based compensation	4,030		4,030
Vesting of early exercised stock options	9		9
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Portion Attributable to Parent	(115)			(115)
Net unrealized gain (loss) on marketable securities	21			21
Net loss	(12,242)				(12,242)
Stockholders' equity, end of period (in shares) at Mar. 31, 2021		32,808,534
Stockholders' equity, end of period at Mar. 31, 2021	161,667	$ 3	412,753	430	(251,519)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2020		32,583,220
Stockholders' equity, beginning of period at Dec. 31, 2020	$ 169,363	$ 3	408,113	524	(239,277)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock related to employee stock purchase plan (in shares)	104,861
Issuance of common stock related to employee stock purchase plan	$ 1,600
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Portion Attributable to Parent	(80)
Net unrealized gain (loss) on marketable securities	16
Net loss	(26,223)
Stockholders' equity, end of period (in shares) at Jun. 30, 2021		33,236,270
Stockholders' equity, end of period at Jun. 30, 2021	154,198	$ 3	419,235	460	(265,500)
Stockholders' equity, beginning of period (in shares) at Mar. 31, 2021		32,808,534
Stockholders' equity, beginning of period at Mar. 31, 2021	161,667	$ 3	412,753	430	(251,519)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		140,917
Issuance of common stock upon vesting of restricted stock units	650		650
Issuance of common stock upon vesting of restricted stock units (in shares)		181,958
Issuance of common stock related to employee stock purchase plan (in shares)		104,861
Issuance of common stock related to employee stock purchase plan	1,566		1,566
Stock-based compensation	4,257		4,257
Vesting of early exercised stock options	9		9
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Portion Attributable to Parent	35			35
Net unrealized gain (loss) on marketable securities	(5)			(5)
Net loss	(13,981)				(13,981)
Stockholders' equity, end of period (in shares) at Jun. 30, 2021		33,236,270
Stockholders' equity, end of period at Jun. 30, 2021	154,198	$ 3	419,235	460	(265,500)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2021		33,674,085
Stockholders' equity, beginning of period at Dec. 31, 2021	134,420	$ 3	429,914	352	(295,849)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		34,798
Issuance of common stock upon vesting of restricted stock units	169		169
Issuance of common stock upon vesting of restricted stock units (in shares)		163,480
Stock-based compensation	5,507		5,507
Net unrealized gain (loss) on marketable securities	(248)			(248)
Net loss	(17,410)				(17,410)
Stockholders' equity, end of period (in shares) at Mar. 31, 2022		33,872,363
Stockholders' equity, end of period at Mar. 31, 2022	122,438	$ 3	435,590	104	(313,259)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2021		33,674,085
Stockholders' equity, beginning of period at Dec. 31, 2021	$ 134,420	$ 3	429,914	352	(295,849)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	39,267
Issuance of common stock related to employee stock purchase plan (in shares)	112,773
Issuance of common stock related to employee stock purchase plan	$ 1,600
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Portion Attributable to Parent	(14)
Net unrealized gain (loss) on marketable securities	(306)
Net loss	(35,923)
Stockholders' equity, end of period (in shares) at Jun. 30, 2022		34,221,614
Stockholders' equity, end of period at Jun. 30, 2022	110,833	$ 3	442,570	32	(331,772)
Stockholders' equity, beginning of period (in shares) at Mar. 31, 2022		33,872,363
Stockholders' equity, beginning of period at Mar. 31, 2022	122,438	$ 3	435,590	104	(313,259)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		4,469
Issuance of common stock upon vesting of restricted stock units	30		30
Issuance of common stock upon vesting of restricted stock units (in shares)		232,009
Issuance of common stock related to employee stock purchase plan (in shares)		112,773
Issuance of common stock related to employee stock purchase plan	1,199		1,199
Stock-based compensation	5,751		5,751
Vesting of early exercised stock options	(14)			(14)
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Portion Attributable to Parent	(14)
Net unrealized gain (loss) on marketable securities	(58)			(58)
Net loss	(18,513)				(18,513)
Stockholders' equity, end of period (in shares) at Jun. 30, 2022		34,221,614
Stockholders' equity, end of period at Jun. 30, 2022	$ 110,833	$ 3	$ 442,570	$ 32	$ (331,772)