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	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Earnings Per Share [Abstract]
Net Income (Loss)	$ (30,859)	$ (31,819)	$ (25,325)
Convertible and redeemable series A-2 preferred stock dividend	(16,400)	(16,400)	(16,400)
Net loss attributable to common stockholders -basic	(47,259)	(48,219)	(41,725)
Net loss attributable to common stockholders -diluted	$ (47,259)	$ (48,219)	$ (41,725)
Weighted-average common shares outstanding - basic	30,058	29,688	26,724
Weighted-average common shares outstanding - diluted	30,058	29,688	26,724
Net loss per share attributable to common stockholders - basic	$ (1.57)	$ (1.62)	$ (1.56)
Net loss per share attributable to common stockholders - diluted	$ (1.57)	$ (1.62)	$ (1.56)