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, 2024	Mar. 31, 2023
Earnings Per Share [Abstract]
Net loss	$ (13,357)	$ (14,719)
Convertible and redeemable series A-2 preferred stock dividend	(2,814)	(4,100)
Net loss attributable to common stockholders -basic	(16,171)	(18,819)
Net loss attributable to common stockholders -diluted	$ (16,171)	$ (18,819)
Weighted-average common shares outstanding - basic	30,381	29,857
Weighted-average common shares outstanding - diluted	30,381	29,857
Net loss per share attributable to common stockholders - basic	$ (0.53)	$ (0.63)
Net loss per share attributable to common stockholders - diluted	$ (0.53)	$ (0.63)