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						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
Numerator:
Net loss	$ (2,199)	$ (11,523)	$ (10,461)	$ (12,924)	$ (8,906)	$ (9,416)	$ (24,183)	$ (31,246)
Denominator:
Weighted-average shares outstanding - basic	25,743			24,330			25,384	24,040
Weighted-average shares outstanding - diluted	25,743			24,330			25,384	24,040
Net loss per share - basic	$ (0.09)			$ (0.53)			$ (0.95)	$ (1.30)
Net loss per share - diluted	$ (0.09)			$ (0.53)			$ (0.95)	$ (1.30)