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
	Mar. 31, 2023	Mar. 31, 2022
Earnings Per Share [Abstract]
Net loss	$ (14,719)	$ (7,536)
Convertible and redeemable series A-2 preferred stock dividend	(4,100)	(4,100)
Net loss attributable to common stockholders -basic and diluted	$ (18,819)	$ (11,636)
Weighted-average common shares outstanding - basic	29,857	29,662
Weighted-average common shares outstanding - diluted	29,857	29,662
Net loss per share attributable to common stockholders - basic	$ (0.63)	$ (0.39)
Net loss per share attributable to common stockholders - diluted	$ (0.63)	$ (0.39)