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Nature of Business - Liquidity (Details) - USD ($) $ / shares in Units, $ in Thousands					12 Months Ended
	Oct. 18, 2022	Sep. 19, 2022	Nov. 02, 2021	Feb. 09, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Liquidity
Accumulated deficit					$ 894,736	$ 710,058
Issuance of stock (in shares)	580,000	4,800,000		5,750,000
Price per share	$ 26.00	$ 26.00		$ 30.00
Net proceeds from issuance of common stock	$ 14,175	$ 116,887		$ 161,550	48,875	131,112	$ 161,726
Period for option to purchase additional shares by underwriter		30 days
Carrying amount of cash and cash equivalents and short term investments					$ 275,846	$ 333,288
Underwriter option to purchase
Liquidity
Issuance of stock (in shares)		720,000
Maximum \| At-the-market offering
Liquidity
Aggregate proceeds			$ 100,000