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)	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 gain (loss) on marketable securities	(65)			(65)
Net loss	$ (61,256)				(61,256)
Stockholders' equity, end of period (in shares) at Dec. 31, 2022	34,731,577	34,731,577
Stockholders' equity, end 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 from public offerings, net of underwriting discounts, commissions and offering costs (in shares)		4,068,497
Issuance of common stock from public offerings, net of underwriting discounts, commissions and offering costs	$ 83,672	$ 1	83,671
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	698,627	698,627
Issuance of common stock upon exercise of stock options, net of shares withheld	$ 4,386		4,386
Issuance of common stock related to employee stock purchase plan (in shares)	178,918	178,918
Issuance of common stock related to employee stock purchase plan	$ 2,191		2,191
Issuance of common stock upon vesting of restricted stock units (in shares)		993,077
Issuance of common stock upon exercise of warrant, net of shares withheld (in shares)		22,603
Stock-based compensation	24,057		24,057
Foreign currency translation	(63)			(63)
Net unrealized gain (loss) on marketable securities	166			166
Net loss	$ (43,336)				(43,336)
Stockholders' equity, end of period (in shares) at Dec. 31, 2023	40,693,299	40,693,299
Stockholders' equity, end of period at Dec. 31, 2023	$ 169,375	$ 4	$ 569,477	$ 335	$ (400,441)