Net Loss Per Share of Common Stock - Schedule of Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Earnings Per Share [Abstract]
Net loss	$ (61,256)	$ (56,572)
Weighted-average number of common shares used to compute basic and diluted net loss per share, basic (in shares)	34,201,824	33,145,930
Weighted-average number of shares used to compute basic and diluted net loss per share (in shares)	34,201,824	33,145,930
Net loss per share, basic (in USD per share)	$ (1.79)	$ (1.71)
Net loss per share, diluted (in USD per share)	$ (1.79)	$ (1.71)