Net Loss Per Share - Reconciliation of the Numerator and Denominator used in Computing Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss	$ (11,523)	$ (10,461)	$ (8,906)	$ (9,416)	$ (21,984)	$ (18,322)
Denominator:
Weighted-average shares outstanding - basic	25,429		24,120		25,204	23,895
Weighted-average shares outstanding - diluted	25,429		24,120		25,204	23,895
Net loss per share - basic	$ (0.45)		$ (0.37)		$ (0.87)	$ (0.77)
Net loss per share - diluted	$ (0.45)		$ (0.37)		$ (0.87)	$ (0.77)