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Condensed Consolidated Statements of Stockholders' Deficit (Parenthetical) - shares shares in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Statement of Stockholders' Equity [Abstract]
Employee stock purchase plan sales, net (in shares)	162		176	145		115	338	260
Exercise of stock options, net (in shares)	149	608	801	390	51	1,108
Exercise of warrants (in shares)					253

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