Net Loss Per Share - Reconciliation of the Numerator and Denominator used in Computing Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Numerator:
Net loss	$ (10,461)	$ (9,416)
Denominator:
Weighted-average shares outstanding — basic and diluted	24,980	23,671
Net loss per share — basic and diluted	$ (0.42)	$ (0.40)