Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Earnings Per Share [Abstract]
Net loss	$ (7,751)	$ (7,536)	$ (13,148)	$ (12,931)	$ (15,287)	$ (26,079)
Convertible and redeemable series A-2 preferred stock dividend	(4,100)		(4,100)		(8,200)	(8,200)
Net loss attributable to common stockholders -basic and diluted	$ (11,851)		$ (17,248)		$ (23,487)	$ (34,279)
Weighted-average common shares outstanding – basic and diluted	29,678		26,056		29,670	25,586
Net loss per share attributable to common stockholders - basic and diluted	$ (0.40)		$ (0.66)		$ (0.79)	$ (1.34)