Condensed Consolidated Statements of Stockholder's Equity - USD ($) $ in Thousands | Common Stock At-the-market offering | Common Stock Public offerings | Common Stock | Additional Paid-In Capital At-the-market offering | Additional Paid-In Capital Public offerings | Additional Paid-In Capital | Accumulated Other Comprehensive (Loss) Gain | Accumulated Deficit | At-the-market offering | Public offerings | Total |
Balance, Beginning at Dec. 31, 2021 | | | | | | $ 709,682 | $ (299) | $ (409,362) | | | $ 300,021 |
Balance, Beginning (in shares) at Dec. 31, 2021 | | | 47,838,330 | | | | | | | | |
Increase (Decrease) in Stockholders' Equity | | | | | | | | | | | |
Issuance of common stock, net of issuance costs | | | | $ 14,553 | | | | | $ 14,553 | | |
Issuance of common stock, net of issuance costs (in shares) | 422,367 | | | | | | | | | | |
Issuance of common stock under equity incentive and employee stock purchase plans | | | | | | 3,895 | | | | | 3,895 |
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) | | | 545,443 | | | | | | | | |
Issuance of common stock upon exercise of Warrants (in shares) | | | 399,997 | | | | | | | | |
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units | | | | | | (188) | | | | | (188) |
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units (in shares) | | | (7,726) | | | | | | | | |
Stock-based compensation expense | | | | | | 18,690 | | | | | 18,690 |
Issuance costs related to prior period common stock offering | | | | | | 25 | | | | | 25 |
Other comprehensive gain (loss) | | | | | | | (181) | | | | (181) |
Net loss | | | | | | | | (93,199) | | | (93,199) |
Balance, Ending at Sep. 30, 2022 | | | | | | 746,657 | (480) | (502,561) | | | 243,616 |
Balance, Ending (in shares) at Sep. 30, 2022 | | | 49,198,411 | | | | | | | | |
Balance, Beginning at Dec. 31, 2021 | | | | | | 709,682 | (299) | (409,362) | | | 300,021 |
Balance, Beginning (in shares) at Dec. 31, 2021 | | | 47,838,330 | | | | | | | | |
Balance, Ending at Dec. 31, 2022 | | | | | | 752,722 | (359) | (536,755) | | | $ 215,608 |
Balance, Ending (in shares) at Dec. 31, 2022 | | | 49,339,252 | | | | | | | | 49,339,252 |
Balance, Beginning at Jun. 30, 2022 | | | | | | 740,027 | (720) | (471,329) | | | $ 267,978 |
Balance, Beginning (in shares) at Jun. 30, 2022 | | | 48,683,931 | | | | | | | | |
Increase (Decrease) in Stockholders' Equity | | | | | | | | | | | |
Issuance of common stock under equity incentive and employee stock purchase plans | | | | | | 680 | | | | | 680 |
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) | | | 114,483 | | | | | | | | |
Issuance of common stock upon exercise of Warrants (in shares) | | | 399,997 | | | | | | | | |
Stock-based compensation expense | | | | | | 5,950 | | | | | 5,950 |
Other comprehensive gain (loss) | | | | | | | 240 | | | | 240 |
Net loss | | | | | | | | (31,232) | | | (31,232) |
Balance, Ending at Sep. 30, 2022 | | | | | | 746,657 | (480) | (502,561) | | | 243,616 |
Balance, Ending (in shares) at Sep. 30, 2022 | | | 49,198,411 | | | | | | | | |
Balance, Beginning at Dec. 31, 2022 | | | | | | 752,722 | (359) | (536,755) | | | $ 215,608 |
Balance, Beginning (in shares) at Dec. 31, 2022 | | | 49,339,252 | | | | | | | | 49,339,252 |
Increase (Decrease) in Stockholders' Equity | | | | | | | | | | | |
Exercise of Warrants in exchange for issuance of Pre-funded Warrants | | | | | | 33,813 | | | | | $ 33,813 |
Issuance of common stock, net of issuance costs | $ 1 | | | $ 24,301 | $ 107,790 | | | | $ 24,302 | $ 107,790 | |
Issuance of common stock, net of issuance costs (in shares) | 1,749,199 | 5,750,000 | | | | | | | | | |
Issuance of common stock under equity incentive and employee stock purchase plans | | | | | | 4,255 | | | | | 4,255 |
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) | | | 796,240 | | | | | | | | |
Issuance of common stock upon exercise of Warrants | | | | | | 559 | | | | | 559 |
Issuance of common stock upon exercise of Warrants (in shares) | | | 44,748 | | | | | | | | |
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units | | | | | | (769) | | | | | (769) |
Shares withheld for net settlement of tax withholding upon vesting of restricted stock units (in shares) | | | (31,963) | | | | | | | | |
Stock-based compensation expense | | | | | | 22,692 | | | | | 22,692 |
Other comprehensive gain (loss) | | | | | | | 189 | | | | 189 |
Net loss | | | | | | | | (106,290) | | | (106,290) |
Balance, Ending at Sep. 30, 2023 | | | $ 1 | | | 945,363 | (170) | (643,045) | | | $ 302,149 |
Balance, Ending (in shares) at Sep. 30, 2023 | | | 57,647,476 | | | | | | | | 57,647,476 |
Balance, Beginning at Jun. 30, 2023 | | | $ 1 | | | 903,205 | (198) | (608,940) | | | $ 294,068 |
Balance, Beginning (in shares) at Jun. 30, 2023 | | | 57,494,185 | | | | | | | | |
Increase (Decrease) in Stockholders' Equity | | | | | | | | | | | |
Exercise of Warrants in exchange for issuance of Pre-funded Warrants | | | | | | 33,813 | | | | | 33,813 |
Issuance of common stock under equity incentive and employee stock purchase plans | | | | | | 1,021 | | | | | 1,021 |
Issuance of common stock under equity incentive and employee stock purchase plans (in shares) | | | 108,543 | | | | | | | | |
Issuance of common stock upon exercise of Warrants | | | | | | 559 | | | | | 559 |
Issuance of common stock upon exercise of Warrants (in shares) | | | 44,748 | | | | | | | | |
Stock-based compensation expense | | | | | | 6,765 | | | | | 6,765 |
Other comprehensive gain (loss) | | | | | | | 28 | | | | 28 |
Net loss | | | | | | | | (34,105) | | | (34,105) |
Balance, Ending at Sep. 30, 2023 | | | $ 1 | | | $ 945,363 | $ (170) | $ (643,045) | | | $ 302,149 |
Balance, Ending (in shares) at Sep. 30, 2023 | | | 57,647,476 | | | | | | | | 57,647,476 |