Net Loss Per Share - Computation (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss	$ (22,538)	$ (20,963)	$ (12,528)
Accretion of redeemable convertible preferred stock to redemption value	0	(7,061)	(15,095)
Net loss attributable to common stockholders, basic	(22,538)	(28,024)	(27,623)
Net loss attributable to common stockholders, diluted	$ (22,538)	$ (28,024)	$ (27,623)
Weighted Average Number of Shares Outstanding Reconciliation [Abstract]
Weighted average common shares outstanding—basic (in shares)	38,479,437	26,059,744	11,034,620
Weighted average common shares outstanding—diluted (in shares)	38,479,437	26,059,744	11,034,620
Net loss per share attributable to common stockholders—basic (in usd per share)	$ (0.59)	$ (1.08)	$ (2.50)
Net loss per share attributable to common stockholders—diluted (in usd per share)	$ (0.59)	$ (1.08)	$ (2.50)