CONSOLIDATED STATEMENTS OF STOCKHOLDERS' (DEFICIT) EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2021		177,000,963
Beginning balance at Dec. 31, 2021	$ 74,008	$ 1	$ 1,536,800	$ 6	$ (1,462,799)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock, net of issuance costs (in shares)		4,404,600
Issuance of common stock, net of issuance costs	7,122	$ 1	7,121
Proceeds from sale of stock under employee stock purchase plan (in shares)		335,146
Proceeds from sale of stock under employee stock purchase plan	410		410
Stock-based compensation expense	17,849		17,849
Restricted stock unit vesting (in shares)		2,252,565
Exercise of options (in shares)		142,440
Exercise of options	67		67
Net loss	$ (94,226)				(94,226)
Ending balance (in shares) at Dec. 31, 2022	184,135,714	184,135,714
Ending balance at Dec. 31, 2022	$ 5,230	$ 2	1,562,247	6	(1,557,025)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock, net of issuance costs (in shares)		6,189,974
Issuance of common stock, net of issuance costs	6,708		6,708
Proceeds from sale of stock under employee stock purchase plan (in shares)		200,194
Proceeds from sale of stock under employee stock purchase plan	85		85
Stock-based compensation expense	$ 9,317		9,317
Restricted stock unit vesting (in shares)		4,054,407
Exercise of options (in shares)	2,250	2,250
Exercise of options	$ 1		1
Net loss	$ (51,925)				(51,925)
Ending balance (in shares) at Dec. 31, 2023	194,582,539	194,582,539
Ending balance at Dec. 31, 2023	$ (30,584)	$ 2	$ 1,578,358	$ 6	$ (1,608,950)