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, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Earnings Per Share [Abstract]
Net loss	$ (10,022)	$ (11,206)	$ (11,125)	$ (14,158)	$ (18,513)	$ (17,410)	$ (32,353)	$ (50,081)
Weighted-average number of common shares used to compute basic net loss per share (in shares)	40,265,520			34,356,850			37,702,207	34,069,357
Weighted-average number of common shares used to compute diluted net loss per share (in shares)	40,265,520			34,356,850			37,702,207	34,069,357
Net loss per share, basic (in usd per share)	$ (0.25)			$ (0.41)			$ (0.86)	$ (1.47)
Net loss per share, diluted (in usd per share)	$ (0.25)			$ (0.41)			$ (0.86)	$ (1.47)