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, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023
Earnings Per Share [Abstract]
Net loss	$ (8,939)	$ (10,904)	$ (11,206)	$ (11,125)	$ (19,843)	$ (22,331)
Weighted-average number of common shares used to compute basic net loss per share (in shares)	41,317,627		37,864,185		41,126,009	36,399,309
Weighted-average number of common shares used to compute diluted net loss per share (in shares)	41,317,627		37,864,185		41,126,009	36,399,309
Net loss per share, basic (in usd per share)	$ (0.22)		$ (0.30)		$ (0.48)	$ (0.61)
Net loss per share, diluted (in usd per share)	$ (0.22)		$ (0.30)		$ (0.48)	$ (0.61)