Net Loss Per Share - Reconciliation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Earnings Per Share [Abstract]
Net loss	$ (10,954)	$ (12,564)	$ (7,586)	$ (5,896)	$ (3,279)	$ (23,225)	$ (31,104)	$ (32,400)
Weighted average number of shares outstanding:
Basic	27,902			27,201			27,696	26,484
Effect of dilutive securities:
Diluted	27,902			27,201			27,696	26,484
Net loss per share:
Basic (in dollar per share)	$ (0.39)			$ (0.22)			$ (1.12)	$ (1.22)
Diluted (in dollar per share)	$ (0.39)			$ (0.22)			$ (1.12)	$ (1.22)