Net Loss Per Share - Computation of Basic and Diluted Net (Loss) Income Per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Earnings Per Share [Abstract]
Net loss	$ (31,819)	$ (25,325)	$ (57,949)
Accretion of redeemable series A-1 preferred stock			(17,601)
Redeemable series A-1 preferred stock deemed dividend			(24,341)
Convertible and redeemable series A-2 preferred stock dividend	(16,400)	(16,400)	(6,970)
Net loss attributable to common stockholders – basic and diluted	$ (48,219)	$ (41,725)	$ (106,861)
Weighted-average common shares outstanding - basic	29,688	26,724	16,479
Weighted-average common shares outstanding - diluted	29,688	26,724	16,479
Net loss per share attributable to common stockholders - basic	$ (1.62)	$ (1.56)	$ (6.48)
Net loss per share attributable to common stockholders - diluted	$ (1.62)	$ (1.56)	$ (6.48)