Stockholders' Equity (Details) - USD ($) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Common Stock
Balance, beginning	$ 302,740	$ 326,204	$ 398,101	$ 419,476	$ 326,204	$ 419,476
Balance (in shares)		47,200,695			47,200,695
Shares issued under stock option and employee stock purchase plans	133	$ 694	71	304
Stock-based compensation	5,217	4,340	3,454	3,153
Unrealized loss on marketable securities	(51)	863	(529)	(1,782)	$ 812	(2,311)
Net loss	(30,502)	(29,361)	(36,004)	(23,050)	(59,863)	(59,054)
Balance, ending	$ 277,537	302,740	365,093	398,101	$ 277,537	365,093
Balance (in shares)	47,253,813				47,253,813
Aggregate gross offering price available	$ 50,000				$ 50,000
Common Stock [Member]
Common Stock
Balance, beginning	$ 47	$ 47	$ 47	$ 47	$ 47	$ 47
Balance (in shares)	47,244,681	47,200,695	46,754,348	46,730,198	47,200,695	46,730,198
Shares issued under stock option and employee stock purchase plans (in shares)	9,132	43,986	10,355	24,150
Balance, ending	$ 47	$ 47	$ 47	$ 47	$ 47	$ 47
Balance (in shares)	47,253,813	47,244,681	46,764,703	46,754,348	47,253,813	46,764,703
Additional Paid-in Capital [Member]
Common Stock
Balance, beginning	$ 1,585,863	$ 1,580,829	$ 1,564,599	$ 1,561,142	$ 1,580,829	$ 1,561,142
Shares issued under stock option and employee stock purchase plans	133	694	71	304
Stock-based compensation	5,217	4,340	3,454	3,153
Balance, ending	1,591,213	1,585,863	1,568,124	1,564,599	1,591,213	1,568,124
AOCI Attributable to Parent [Member]
Common Stock
Balance, beginning	2,123	1,260	112	1,894	1,260	1,894
Unrealized loss on marketable securities	(51)	863	(529)	(1,782)
Balance, ending	2,072	2,123	(417)	112	2,072	(417)
Retained Earnings [Member]
Common Stock
Balance, beginning	(1,285,293)	(1,255,932)	(1,166,657)	(1,143,607)	(1,255,932)	(1,143,607)
Net loss	(30,502)	(29,361)	(36,004)	(23,050)
Balance, ending	$ (1,315,795)	$ (1,285,293)	$ (1,202,661)	$ (1,166,657)	$ (1,315,795)	$ (1,202,661)