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, 2022		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
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 related to employee stock purchase plan (in shares)	130,867
Issuance of common stock related to employee stock purchase plan	$ 1,500
Foreign currency translation	(19)
Net unrealized gain (loss) on marketable securities	85
Net loss	(22,331)
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)
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 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)		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	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
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)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2023	40,693,299	40,693,299
Stockholders' equity, beginning of period at Dec. 31, 2023	$ 169,375	$ 4	569,477	335	(400,441)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		29,892
Issuance of common stock upon exercise of stock options, net of shares withheld	105		105
Issuance of common stock upon vesting of restricted stock units (in shares)		355,571
Stock-based compensation	7,030		7,030
Foreign currency translation	29			29
Net unrealized gain (loss) on marketable securities	(98)			(98)
Net loss	(10,904)				(10,904)
Stockholders' equity, end of period (in shares) at Mar. 31, 2024		41,078,762
Stockholders' equity, end of period at Mar. 31, 2024	$ 165,537	$ 4	576,612	266	(411,345)
Stockholders' equity, beginning of period (in shares) at Dec. 31, 2023	40,693,299	40,693,299
Stockholders' equity, beginning of period at Dec. 31, 2023	$ 169,375	$ 4	569,477	335	(400,441)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)	99,320
Issuance of common stock related to employee stock purchase plan (in shares)	114,636
Issuance of common stock related to employee stock purchase plan	$ 1,500
Foreign currency translation	(2)
Net unrealized gain (loss) on marketable securities	(106)
Net loss	$ (19,843)
Stockholders' equity, end of period (in shares) at Jun. 30, 2024	41,510,811	41,510,811
Stockholders' equity, end of period at Jun. 30, 2024	$ 164,733	$ 4	584,786	227	(420,284)
Stockholders' equity, beginning of period (in shares) at Mar. 31, 2024		41,078,762
Stockholders' equity, beginning of period at Mar. 31, 2024	165,537	$ 4	576,612	266	(411,345)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options, net of shares withheld (in shares)		69,428
Issuance of common stock upon exercise of stock options, net of shares withheld	$ 304		304
Issuance of common stock related to employee stock purchase plan (in shares)	114,636	114,636
Issuance of common stock related to employee stock purchase plan	$ 1,472		1,472
Issuance of common stock upon vesting of restricted stock units (in shares)		247,985
Stock-based compensation	6,398		6,398
Foreign currency translation	(31)			(31)
Net unrealized gain (loss) on marketable securities	(8)			(8)
Net loss	$ (8,939)				(8,939)
Stockholders' equity, end of period (in shares) at Jun. 30, 2024	41,510,811	41,510,811
Stockholders' equity, end of period at Jun. 30, 2024	$ 164,733	$ 4	$ 584,786	$ 227	$ (420,284)