Net Loss Per Share of Common Stock - Computation of Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Earnings Per Share [Abstract]
Net loss	$ (18,513)	$ (17,410)	$ (13,981)	$ (12,242)	$ (35,923)	$ (26,223)
Weighted-average number of common shares used to compute basic net loss per share (in shares)	34,052,692		32,978,914		33,923,229	32,836,040
Weighted-average number of common shares used to compute diluted net loss per share (in shares)	34,052,692		32,978,914		33,923,229	32,836,040
Net loss per share, basic (in usd per share)	$ (0.54)		$ (0.42)		$ (1.06)	$ (0.80)
Net loss per share, diluted (in usd per share)	$ (0.54)		$ (0.42)		$ (1.06)	$ (0.80)