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	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net Income (Loss)	$ (43,366)	$ (24,301)	$ (51,260)
Denominator:
Weighted-average shares outstanding - basic	26,752	25,539	24,176
Weighted-average shares outstanding - diluted	26,752	25,539	24,176
Net loss per share - basic	$ (1.62)	$ (0.95)	$ (2.12)
Net loss per share - diluted	$ (1.62)	$ (0.95)	$ (2.12)