Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Earnings Per Share [Abstract]
Net loss	$ (41,270)	$ (34,683)	$ (23,082)
Weighted average shares outstanding
Basic (in shares)	28,085	26,692	21,588
Effect of dilutive securities:
Diluted (in shares)	28,085	26,692	21,588
Net loss per share:
Basic (in dollar per share)	$ (1.47)	$ (1.3)	$ (1.07)
Diluted (in dollar per share)	$ (1.47)	$ (1.3)	$ (1.07)