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Net Loss Per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Numerator:      
Net loss attributable to common stockholders $ (58,655) $ (49,762) $ (34,495)
Denominator:      
Weighted-average shares outstanding 41,444,696 35,262,987 24,783,287
Less:weighted-average shares of restricted stock that are subject to repurchase   (10,544) (61,512)
Weighted-average shares used in computing net loss per share attributable to common stock, basic 41,444,696 35,252,443 24,721,775
Weighted-average shares used in computing net loss per share attributable to common stock, diluted 41,444,696 35,252,443 24,721,775
Net loss per share attributable to common stockholders, basic $ (1.42) $ (1.41) $ (1.40)
Net loss per share attributable to common stockholders, diluted $ (1.42) $ (1.41) $ (1.40)