Net Loss Per Share of Common Stock - Computation of Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Earnings Per Share [Abstract]
Net loss	$ (14,158)	$ (18,513)	$ (17,410)	$ (15,872)	$ (13,981)	$ (12,242)	$ (50,081)	$ (42,095)
Weighted-average number of common shares used to compute basic net loss per share (in shares)	34,356,850			33,340,093			34,069,357	33,005,904
Weighted-average number of common shares used to compute diluted net loss per share (in shares)	34,356,850			33,340,093			34,069,357	33,005,904
Net loss per share, basic (in usd per share)	$ (0.41)			$ (0.48)			$ (1.47)	$ (1.28)
Net loss per share, diluted (in usd per share)	$ (0.41)			$ (0.48)			$ (1.47)	$ (1.28)