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Statements of Stockholders' Equity - USD ($) $ in Thousands | Common Stock At-the-market offering | Common Stock | Additional Paid-In Capital At-the-market offering | Additional Paid-In Capital | Accumulated Other Comprehensive (Loss) Gain | Accumulated Deficit | At-the-market offering | Total
--- | --- | --- | --- | --- | --- | --- | --- | ---
Balance, Beginning at Dec. 31, 2019 |  |  |  | $ 297,846 | $ (221) | $ (217,661) |  | $ 79,964
Balance, Beginning (in shares) at Dec. 31, 2019 |  | 27,217,649 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs |  |  | $ 23,011 | 105,328 |  |  | $ 23,011 | 105,328
Issuance of common stock, net of issuance costs (in shares) | 1,565,840 | 8,050,000 |  |  |  |  |  |
Issuance of common stock under equity incentive and employee stock purchase plans |  |  |  | 2,486 |  |  |  | 2,486
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) |  | 481,384 |  |  |  |  |  |
Stock-based compensation expense |  |  |  | 5,932 |  |  |  | 5,932
Other comprehensive (loss) gain |  |  |  |  | 133 |  |  | 133
Net loss |  |  |  |  |  | (47,264) |  | (47,264)
Balance, Ending at Sep. 30, 2020 |  |  |  | 434,603 | (88) | (264,925) |  | 169,590
Balance, Ending (in shares) at Sep. 30, 2020 |  | 37,314,873 |  |  |  |  |  |
Balance, Beginning at Dec. 31, 2019 |  |  |  | 297,846 | (221) | (217,661) |  | 79,964
Balance, Beginning (in shares) at Dec. 31, 2019 |  | 27,217,649 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs (in shares) |  | 4,761,904 |  |  |  |  |  |
Balance, Ending at Dec. 31, 2020 |  |  |  | 563,389 | 28 | (283,811) |  | $ 279,606
Balance, Ending (in shares) at Dec. 31, 2020 |  | 43,745,465 |  |  |  |  |  | 43,745,465
Balance, Beginning at Jun. 30, 2020 |  |  |  | 424,855 | (208) | (257,162) |  | $ 167,485
Balance, Beginning (in shares) at Jun. 30, 2020 |  | 36,802,139 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs |  |  | $ 6,368 | (3) |  |  | $ 6,368 | (3)
Issuance of common stock, net of issuance costs (in shares) | 333,047 |  |  |  |  |  |  |
Issuance of common stock under equity incentive and employee stock purchase plans |  |  |  | 1,495 |  |  |  | 1,495
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) |  | 179,687 |  |  |  |  |  |
Stock-based compensation expense |  |  |  | 1,888 |  |  |  | 1,888
Other comprehensive (loss) gain |  |  |  |  | 120 |  |  | 120
Net loss |  |  |  |  |  | (7,763) |  | (7,763)
Balance, Ending at Sep. 30, 2020 |  |  |  | 434,603 | (88) | (264,925) |  | 169,590
Balance, Ending (in shares) at Sep. 30, 2020 |  | 37,314,873 |  |  |  |  |  |
Balance, Beginning at Dec. 31, 2020 |  |  |  | 563,389 | 28 | (283,811) |  | $ 279,606
Balance, Beginning (in shares) at Dec. 31, 2020 |  | 43,745,465 |  |  |  |  |  | 43,745,465
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs |  |  |  | 123,804 |  |  |  | $ 123,804
Issuance of common stock, net of issuance costs (in shares) |  | 3,503,311 |  |  |  |  |  |
Issuance of common stock under equity incentive and employee stock purchase plans |  |  |  | 3,944 |  |  |  | 3,944
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) |  | 429,938 |  |  |  |  |  |
Stock-based compensation expense |  |  |  | 11,371 |  |  |  | 11,371
Other comprehensive (loss) gain |  |  |  |  | (232) |  |  | (232)
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units |  |  |  | (189) |  |  |  | (189)
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units (in shares) |  | (7,060) |  |  |  |  |  |
Net loss |  |  |  |  |  | (88,644) |  | (88,644)
Balance, Ending at Sep. 30, 2021 |  |  |  | 702,319 | (204) | (372,455) |  | $ 329,660
Balance, Ending (in shares) at Sep. 30, 2021 |  | 47,671,654 |  |  |  |  |  | 47,671,654
Balance, Beginning at Jun. 30, 2021 |  |  |  | 696,157 | (59) | (338,651) |  | $ 357,447
Balance, Beginning (in shares) at Jun. 30, 2021 |  | 47,525,560 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs |  |  |  | 6 |  |  |  | 6
Issuance of common stock under equity incentive and employee stock purchase plans |  |  |  | 1,381 |  |  |  | 1,381
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) |  | 146,094 |  |  |  |  |  |
Stock-based compensation expense |  |  |  | 4,775 |  |  |  | 4,775
Other comprehensive (loss) gain |  |  |  |  | (145) |  |  | (145)
Net loss |  |  |  |  |  | (33,804) |  | (33,804)
Balance, Ending at Sep. 30, 2021 |  |  |  | $ 702,319 | $ (204) | $ (372,455) |  | $ 329,660
Balance, Ending (in shares) at Sep. 30, 2021 |  | 47,671,654 |  |  |  |  |  | 47,671,654

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