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, 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 exercise of stock options, net of shares withheld	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]
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
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 exercise of stock options, net of shares withheld	30		30
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
Issuance of common stock upon vesting of restricted stock units (in shares)		232,009
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 exercise of stock options, net of shares withheld	106		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
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 Dec. 31, 2022	34,731,577	34,731,577
Stockholders' equity, beginning of period at Dec. 31, 2022	$ 98,302	$ 3	455,172	232	(357,105)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		120,266
Issuance of common stock upon exercise of stock options, net of shares withheld	520		520
Issuance of common stock upon vesting of restricted stock units (in shares)		254,320
Stock-based compensation	6,194		6,194
Foreign currency translation	(22)			(22)
Net unrealized gain (loss) on marketable securities	90			90
Net loss	(11,125)				(11,125)
Stockholders' equity, end of period (in shares) at Mar. 31, 2023		35,106,163
Stockholders' equity, end of period at Mar. 31, 2023	$ 93,959	$ 3	461,886	300	(368,230)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2022	34,731,577	34,731,577
Stockholders' equity, beginning of period at Dec. 31, 2022	$ 98,302	$ 3	455,172	232	(357,105)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	670,494
Foreign currency translation	$ 34
Net unrealized gain (loss) on marketable securities	90
Net loss	$ (32,353)
Stockholders' equity, end of period (in shares) at Sep. 30, 2023	40,377,691	40,377,691
Stockholders' equity, end of period at Sep. 30, 2023	$ 173,600	$ 4	562,698	356	(389,458)
Stockholders' equity, beginning of period (in shares) at Mar. 31, 2023		35,106,163
Stockholders' equity, beginning of period at Mar. 31, 2023	93,959	$ 3	461,886	300	(368,230)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from public offerings, net of underwriting discounts, commissions and offering costs (in shares)		4,068,497
Issuance of common stock upon vesting of restricted stock units	83,672	$ 1	83,671
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		497,926
Issuance of common stock upon exercise of stock options, net of shares withheld	3,515		3,515
Issuance of common stock related to employee stock purchase plan (in shares)		130,867
Issuance of common stock related to employee stock purchase plan	$ 1,471		1,471
Issuance of common stock upon vesting of restricted stock units (in shares)		261,709
Issuance of common stock upon exercise of warrant, net of shares withheld (in shares)	22,603	22,603
Stock-based compensation	$ 5,998		5,998
Foreign currency translation	3			3
Net unrealized gain (loss) on marketable securities	(5)			(5)
Net loss	(11,206)				(11,206)
Stockholders' equity, end of period (in shares) at Jun. 30, 2023		40,087,765
Stockholders' equity, end of period at Jun. 30, 2023	177,407	$ 4	556,541	298	(379,436)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		52,302
Issuance of common stock upon exercise of stock options, net of shares withheld	229		229
Issuance of common stock upon vesting of restricted stock units (in shares)		237,624
Stock-based compensation	5,928		5,928
Foreign currency translation	53			53
Net unrealized gain (loss) on marketable securities	5			5
Net loss	$ (10,022)				(10,022)
Stockholders' equity, end of period (in shares) at Sep. 30, 2023	40,377,691	40,377,691
Stockholders' equity, end of period at Sep. 30, 2023	$ 173,600	$ 4	$ 562,698	$ 356	$ (389,458)