Net Loss Per Share - Basic and Diluted (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Numerator:
Net loss	$ (18,276)	$ (15,749)
Denominator:
Weighted-average number of common shares used in loss per share - basic (in shares)	47,441,821	46,981,016
Weighted-average number of common shares used in loss per share - diluted (in shares)	47,441,821	46,981,016
Loss per share - basic (in dollars per share)	$ (0.39)	$ (0.34)
Loss per share - diluted (in dollars per share)	$ (0.39)	$ (0.34)