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, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Earnings Per Share [Abstract]
Net loss	$ (7,174)	$ (14,719)	$ (7,751)	$ (7,536)	$ (21,893)	$ (15,287)
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	$ (11,274)		$ (11,851)		$ (30,093)	$ (23,487)
Weighted-average common shares outstanding - basic	30,047		29,678		29,952	29,670
Weighted-average common shares outstanding - diluted	30,047		29,678		29,952	29,670
Net loss per share attributable to common stockholders - basic	$ (0.38)		$ (0.4)		$ (1)	$ (0.79)
Net loss per share attributable to common stockholders - diluted	$ (0.38)		$ (0.4)		$ (1)	$ (0.79)