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, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Earnings Per Share [Abstract]
Net loss	$ (11,206)	$ (11,125)	$ (18,513)	$ (17,410)	$ (22,331)	$ (35,923)
Weighted-average number of common shares used to compute basic net loss per share (in shares)	37,864,185		34,052,692		36,399,309	33,923,229
Weighted-average number of common shares used to compute diluted net loss per share (in shares)	37,864,185		34,052,692		36,399,309	33,923,229
Net loss per share, basic (in usd per share)	$ (0.30)		$ (0.54)		$ (0.61)	$ (1.06)
Net loss per share, diluted (in usd per share)	$ (0.30)		$ (0.54)		$ (0.61)	$ (1.06)