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 balance (in shares) at Dec. 31, 2020		32,583,220
Stockholders' equity, beginning balance at Dec. 31, 2020	$ 169,363	$ 3	$ 408,113	$ 524	$ (239,277)
Increase (Decrease) in Stockholders' Equity
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	369,375	369,375
Issuance of common stock upon exercise of stock options, net of shares withheld	$ 2,565		2,565
Issuance of common stock related to employee stock purchase plan (in shares)	147,295	147,295
Issuance of common stock related to employee stock purchase plan	$ 2,343		2,343
Issuance of common stock upon vesting of restricted stock units (in shares)		574,195
Stock-based compensation	16,866		16,866
Vesting of early exercised stock options	27		27
Foreign currency translation	(141)			(141)
Net unrealized loss on marketable securities	(31)			(31)
Net loss	(56,572)				(56,572)
Stockholders' equity, ending balance (in shares) at Dec. 31, 2021		33,674,085
Stockholders' equity, ending balance at Dec. 31, 2021	$ 134,420	$ 3	429,914	352	(295,849)
Increase (Decrease) in Stockholders' Equity
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	80,571	80,571
Issuance of common stock upon exercise of stock options, net of shares withheld	$ 379		379
Issuance of common stock related to employee stock purchase plan (in shares)	170,717	170,717
Issuance of common stock related to employee stock purchase plan	$ 1,818		1,818
Issuance of common stock upon vesting of restricted stock units (in shares)		806,204
Stock-based compensation	23,061		23,061
Foreign currency translation	(55)			(55)
Net unrealized loss on marketable securities	(65)			(65)
Net loss	(61,256)				(61,256)
Stockholders' equity, ending balance (in shares) at Dec. 31, 2022		34,731,577
Stockholders' equity, ending balance at Dec. 31, 2022	$ 98,302	$ 3	$ 455,172	$ 232	$ (357,105)