Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ 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
Numerator:
Net loss	$ (7,034)	$ (22,064)	$ (20,484)	$ (18,041)	$ (17,611)	$ (17,394)	$ (49,582)	$ (53,046)
Denominator:
Weighted-average shares of common stock outstanding, basic	36,375,671			26,564,615			36,359,744	26,535,474
Weighted-average shares of common stock outstanding, diluted	36,375,671			26,564,615			36,359,744	26,535,474
Weighted-average shares used to compute net loss per share, basic	36,375,671			26,564,615			36,359,744	26,535,474
Weighted-average shares used to compute net loss per share, diluted	36,375,671			26,564,615			36,359,744	26,535,474
Net loss per share, basic	$ (0.19)			$ (0.68)			$ (1.36)	$ (2.00)
Net loss per share, diluted	$ (0.19)			$ (0.68)			$ (1.36)	$ (2.00)