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Condensed Consolidated Statements of Cash Flows (Unaudited) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Operating activities:    
Net loss $ (34,129) $ (35,229)
Adjustments to reconcile net loss to net cash used in operating activities:    
Depreciation and amortization 1,460 1,477
Stock-based compensation 3,200 2,972
Non-cash operating lease expense 937 1,024
Amortization of (discount) premium on marketable securities, net (688) 270
Change in fair value of warrant liabilities (83) (6,969)
Other expense related to the commitment shares issued to Lincoln Park 0 273
Changes in operating assets and liabilities:    
Prepaid expenses and other current assets 955 (885)
Other assets 38 (398)
Accounts payable (371) (2,365)
Accrued and other liabilities (2,728) (2,433)
Operating Lease liabilities (1,643) (1,677)
Net cash used in operating activities (33,052) (43,940)
Investing activities:    
Purchases of property and equipment (398) (580)
Purchases of marketable securities (28,044) (20,894)
Proceeds from maturities of marketable securities 70,665 57,870
Net cash provided by (used in) investing activities 42,223 36,396
Financing activities:    
Proceeds from issuance of common stock upon exercise of stock options 3 0
Proceeds from issuance of common stock upon employee stock plan purchases 187 0
Repurchase of early exercised stock options (55) (16)
Net cash (used in) provided by financing activities 135 (16)
Net (decrease) increase in cash, cash equivalents and restricted cash 9,306 (7,560)
Cash, cash equivalents and restricted cash at beginning of period 25,095 33,496
Cash, cash equivalents and restricted cash at end of period 34,401 25,936
Supplemental disclosure of noncash investing and financing activities:    
Purchases of property and equipment included in accounts payable 0 9
Vesting of early exercises of stock options 27 80
Reconciliation Of Cash Cash Equivalents And Restricted Cash To Consolidated Balance Sheets Abstract    
Cash and cash equivalents 33,975 25,531
Restricted cash 426 405
Cash, cash equivalents and restricted cash $ 34,401 $ 25,936