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Statements Stockholders’ Equity - USD ($)
$ in Thousands
Total
Common Stock
Additional Paid-In Capital
Accumulated Other Comprehensive Loss
Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2021   24,452,999      
Beginning balance at Dec. 31, 2021 $ 73,503 $ 24 $ 497,522 $ (272) $ (423,771)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Net loss (47,082)       (47,082)
Unrealized loss on available-for-sale debt securities $ (836)     (836)  
Issuance of common stock pursuant to stock option exercises (in shares) 157,447 157,447      
Issuance of common stock pursuant to stock option exercises $ 4   4    
Issuance of common stock pursuant to Employee Stock Purchase Plan (in shares)   284,758      
Issuance of common stock pursuant to Employee Stock Purchase Plan 894 $ 1 893    
Issuance of common stock upon vesting of restricted stock units (in shares)   194,705      
Shares withheld for taxes (in shares)   (8,436)      
Shares withheld for taxes (59)   (59)    
Repurchase of common stock (in shares)   (35,722)      
Change in early exercise liability 4   4    
Stock-based compensation $ 8,349   8,349    
Ending balance (in shares) at Dec. 31, 2022 25,045,751 25,045,751      
Ending balance at Dec. 31, 2022 $ 34,777 $ 25 506,713 (1,108) (470,853)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Net loss (32,956)       (32,956)
Unrealized loss adjustment for short-term investment $ 1,108     1,108  
Issuance of common stock pursuant to stock option exercises (in shares) 889,968 889,968      
Issuance of common stock pursuant to stock option exercises $ 149 $ 1 148    
Issuance of common stock pursuant to Employee Stock Purchase Plan (in shares)   280,599      
Issuance of common stock pursuant to Employee Stock Purchase Plan 654   654    
Issuance of common stock as part of At-the-Market offering, net of issuance costs of $509 (in shares)   933,500      
Issuance of common stock as part of At-the-Market offering, net of issuance costs of $509 7,622 $ 1 7,621    
Issuance of common stock upon vesting of restricted stock units (in shares)   728,986      
Issuance of common stock upon vesting of restricted stock units 0 $ 1 (1)    
Shares withheld for taxes (in shares)   (53,999)      
Shares withheld for taxes (259)   (259)    
Repurchase of common stock (in shares)   (1,340)      
Change in early exercise liability 1   1    
Stock-based compensation $ 9,558   9,558    
Ending balance (in shares) at Dec. 31, 2023 27,823,465 27,823,465      
Ending balance at Dec. 31, 2023 $ 20,654 $ 28 $ 524,435 $ 0 $ (503,809)