Net Loss Per Share - Computation (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (22,699)	$ (22,538)	$ (20,963)
Accretion of redeemable convertible preferred stock to redemption value	0	0	(7,061)
Net loss attributable to common stockholders, basic	(22,699)	(22,538)	(28,024)
Net loss attributable to common stockholders, diluted	$ (22,699)	$ (22,538)	$ (28,024)
Denominator:
Weighted average common shares outstanding—basic (in shares)	39,724,697	38,479,437	26,059,744
Weighted average common shares outstanding—diluted (in shares)	39,724,697	38,479,437	26,059,744
Net loss per share attributable to common stockholders—basic (in usd per share)	$ (0.57)	$ (0.59)	$ (1.08)
Net loss per share attributable to common stockholders—diluted (in usd per share)	$ (0.57)	$ (0.59)	$ (1.08)