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						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Earnings Per Share [Abstract]
Net loss	$ (7,525)	$ (7,174)	$ (14,719)	$ (5,720)	$ (7,751)	$ (7,536)	$ (29,418)	$ (21,007)
Convertible and redeemable series A-2 preferred stock dividend	(4,100)			(4,100)			(12,300)	(12,300)
Net loss attributable to common stockholders -basic	(11,625)			(9,820)			(41,718)	(33,307)
Net loss attributable to common stockholders -diluted	$ (11,625)			$ (9,820)			$ (41,718)	$ (33,307)
Weighted-average common shares outstanding - basic	30,143			29,691			30,016	29,677
Weighted-average common shares outstanding - diluted	30,143			29,691			30,016	29,677
Net loss per share attributable to common stockholders - basic	$ (0.39)			$ (0.33)			$ (1.39)	$ (1.12)
Net loss per share attributable to common stockholders - diluted	$ (0.39)			$ (0.33)			$ (1.39)	$ (1.12)