Consolidated Statements of Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	A T M Facility	Public Offerings	Common Stock	Common Stock A T M Facility	Common Stock Public Offerings	Additional Paid-in Capital	Additional Paid-in Capital A T M Facility	Additional Paid-in Capital Public Offerings	Accumulated Other Comprehensive (Loss) Income	Accumulated Deficit
Beginning balance at Dec. 31, 2020	$ 202,961			$ 20			$ 326,046			$ (10)	$ (123,095)
Beginning balance, shares at Dec. 31, 2020				19,931,660
Issuance of common stock		$ 3,289						$ 3,289
Issuance of common stock, shares					186,546
Issuance of common stock warrants related to term loan facility	574						574
Issuance of common stock upon exercise of stock options	487						487
Issuance of common stock upon exercise of stock options, shares				188,286
Issuance of common stock upon ESPP purchase	144						144
Issuance of common stock upon ESPP purchase, shares				10,712
Stock-based compensation	8,678						8,678
Net loss	(90,122)										(90,122)
Other comprehensive income (loss)	(54)									(54)
Ending balance at Dec. 31, 2021	125,957			$ 20			339,218			(64)	(213,217)
Ending balance, shares at Dec. 31, 2021				20,317,204
Issuance of common stock		28,453	$ 88,239		$ 4	$ 20		28,449	$ 88,219
Issuance of common stock, shares					3,948,611	18,675,466
Issuance of common stock upon exercise of warrants	1,082			$ 4			1,078
Issuance of common stock upon exercise of warrants				4,202,499
Issuance of common stock upon cashless exercise of warrants				$ 3			(3)
Issuance of common stock upon cashless exercise of warrants, shares				3,143,682
Issuance of common stock upon exercise of stock options	305						305
Issuance of common stock upon exercise of stock options, shares				151,061
Issuance of common stock upon vesting of restricted stock units, net of tax withholding for net share settlement	(298)						(298)
Issuance of common stock upon vesting of restricted stock units, net of tax withholding for net share settlement, shares				103,703
Issuance of common stock upon ESPP purchase	50						50
Issuance of common stock upon ESPP purchase, shares				18,364
Stock-based compensation	10,356						10,356
Net loss	(102,026)										(102,026)
Other comprehensive income (loss)	(286)									(286)
Ending balance at Dec. 31, 2022	151,832			$ 51			467,374			(350)	(315,243)
Ending balance, shares at Dec. 31, 2022				50,560,590
Issuance of common stock		$ 37,089	$ 458,590		$ 2	$ 37		$ 37,087	$ 458,553
Issuance of common stock, shares					2,168,539	37,029,105
Issuance of common stock warrants related to term loan facility	482						482
Issuance of common stock upon exercise of warrants	15,590			$ 3			15,587
Issuance of common stock upon exercise of warrants				2,927,570
Issuance of common stock upon exercise of stock options	730						730
Issuance of common stock upon exercise of stock options, shares				247,162
Issuance of common stock upon vesting of restricted stock units, net of tax withholding for net share settlement	(2,732)						(2,732)
Issuance of common stock upon vesting of restricted stock units, net of tax withholding for net share settlement, shares				309,194
Issuance of common stock upon ESPP purchase	268						268
Issuance of common stock upon ESPP purchase, shares				27,217
Stock-based compensation	16,106						16,106
Net loss	(142,189)										(142,189)
Other comprehensive income (loss)	540									540
Ending balance at Dec. 31, 2023	$ 536,306			$ 93			$ 993,455			$ 190	$ (457,432)
Ending balance, shares at Dec. 31, 2023				93,269,377