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
	Mar. 31, 2021	Mar. 31, 2020
Numerator:
Net loss	$ (9,416)	$ (4,326)
Denominator:
Weighted-average shares outstanding — basic and diluted	23,671	22,412
Net loss per share — basic and diluted	$ (0.40)	$ (0.19)