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
Foreign currency translation	(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
Foreign currency translation	(103)
Net unrealized gain (loss) on marketable securities	5
Net loss	(42,095)
Stockholders' equity, end of period (in shares) at Sep. 30, 2021		33,450,995
Stockholders' equity, end of period at Sep. 30, 2021	143,618	$ 3	424,561	426	(281,372)
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
Foreign currency translation	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)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		82,109
Issuance of common stock upon vesting of restricted stock units	1,076		1,076
Issuance of common stock related to employee stock purchase plan (in shares)		132,616
Issuance of common stock related to employee stock purchase plan	0		0
Stock-based compensation	4,241		4,241
Vesting of early exercised stock options	9		9
Foreign currency translation	(23)			(23)
Net unrealized gain (loss) on marketable securities	(11)			(11)
Net loss	(15,872)				(15,872)
Stockholders' equity, end of period (in shares) at Sep. 30, 2021		33,450,995
Stockholders' equity, end of period at Sep. 30, 2021	$ 143,618	$ 3	424,561	426	(281,372)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2021	33,674,085	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	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)	64,211
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
Foreign currency translation	11
Net unrealized gain (loss) on marketable securities	(206)
Net loss	$ (50,081)
Stockholders' equity, end of period (in shares) at Sep. 30, 2022	34,439,309	34,439,309
Stockholders' equity, end of period at Sep. 30, 2022	$ 102,828	$ 3	448,598	157	(345,930)
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
Foreign currency translation	(14)			(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)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		24,944
Issuance of common stock upon vesting of restricted stock units	106	$ 0	106
Issuance of common stock upon vesting of restricted stock units (in shares)		192,751
Stock-based compensation	5,922		5,922
Foreign currency translation	25			25
Net unrealized gain (loss) on marketable securities	100			100
Net loss	$ (14,158)				(14,158)
Stockholders' equity, end of period (in shares) at Sep. 30, 2022	34,439,309	34,439,309
Stockholders' equity, end of period at Sep. 30, 2022	$ 102,828	$ 3	$ 448,598	$ 157	$ (345,930)