Restatement of Previously Issued Consolidated Financial Statements - Consolidated Statements of Convertible Preferred Series Equity & Stockholders' Equity (Details) - USD ($) $ in Thousands		3 Months Ended								6 Months Ended		9 Months Ended		12 Months Ended
	Jan. 30, 2023	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		$ 188,492	$ 196,605	$ 205,069	$ 142,605	$ 172,766	$ 177,154	$ 183,897	$ 192,194	$ 142,605	$ 192,194	$ 142,605	$ 192,194	$ 142,605	$ 192,194	$ 30,393
Net loss		(22,323)	(11,151)	(13,248)	(10,812)	(38,479)	(8,547)	(8,782)	(9,841)	(24,060)	(18,623)	(35,211)	(27,170)	(57,534)	(65,649)	(13,693)
Offering costs associated with initial public offering															(266)
Issuance of common stock					68,449									68,453		1,001
Options exercised			70	843	1,622		2,060	289	12					2,406	5,271	445
Foreign currency translation			(630)	(283)	(99)		(588)	(593)	(324)					165	(41)	(815)
Employee stock purchase plan			86	620	122		100							1,266	731
Stock-based compensation			3,512	3,600	3,182		2,587	2,343	2,122					12,364	10,365	4,948
Ending balance		$ 169,725	$ 188,492	$ 196,605	$ 205,069	$ 142,605	$ 172,766	$ 177,154	$ 183,897	$ 196,605	$ 177,154	$ 188,492	$ 172,766	$ 169,725	$ 142,605	$ 192,194
Common Stock [Member]
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance, shares		82,555,907	82,536,046	82,306,873	77,770,588	77,076,771	76,537,568	76,449,162	76,447,287	77,770,588	76,447,287	77,770,588	76,447,287	77,770,588	76,447,287	46,738,540
Beginning balance		$ 824	$ 824	$ 821	$ 776	$ 769	$ 764	$ 763	$ 763	$ 776	$ 763	$ 776	$ 763	$ 776	$ 763	$ 467
Issuance of common stock, shares	6,500,000				4,312,500									4,312,500	0	151,515
Issuance of common stock					$ 43									$ 43		$ 1
Options exercised, shares			19,861	192,027	223,785		539,203	88,406	1,875					668,925	1,284,333	236,706
Options exercised				$ 3	$ 2		$ 5	$ 1						$ 7	$ 13	$ 2
Employee stock purchase plan,Shares				37,146										73,442	38,968
Employee stock purchase plan														$ 1
Ending balance, shares		82,825,455	82,555,907	82,536,046	82,306,873	77,770,588	77,076,771	76,537,568	76,449,162	82,536,046	76,537,568	82,555,907	77,076,771	82,825,455	77,770,588	76,447,287
Ending balance		$ 827	$ 824	$ 824	$ 821	$ 776	$ 769	$ 764	$ 763	$ 824	$ 764	$ 824	$ 769	$ 827	$ 776	$ 763
Additional Paid-in Capital [Member]
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		296,018	292,350	287,286	213,956	207,109	202,367	199,736	197,868	213,956	197,868	213,956	197,868	213,956	197,868	22,107
Offering costs associated with initial public offering															(266)
Issuance of common stock					68,406									68,410		1,000
Options exercised			70	840	1,620		2,055	288	12					2,399	5,258	443
Employee stock purchase plan			86	620	122		100							1,265	731
Stock-based compensation			3,512	3,600	3,182		2,587	2,343	2,122					12,364	10,365	4,948
Ending balance		298,394	296,018	292,350	287,286	213,956	207,109	202,367	199,736	292,350	202,367	296,018	207,109	298,394	213,956	197,868
Accumulated Deficit
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(101,323)	(90,172)	(76,924)	(66,112)	(27,633)	(19,086)	(10,304)	(463)	(66,112)	(463)	(66,112)	(463)	(66,112)	(463)	12,418
Net loss			(11,151)	(13,248)	(10,812)		(8,547)	(8,782)	(9,841)					(57,534)	(65,649)	(13,693)
Ending balance		(123,646)	(101,323)	(90,172)	(76,924)	(66,112)	(27,633)	(19,086)	(10,304)	(90,172)	(19,086)	(101,323)	(27,633)	(123,646)	(66,112)	(463)
Accumulated Other Comprehensive Income (Loss)
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(1,045)	(415)	(132)	(33)	(1,497)	(909)	(316)	8	(33)	8	(33)	8	(33)	8	823
Foreign currency translation			(630)	(283)	(99)		(588)	(593)	(324)					165	(41)	(815)
Ending balance		132	(1,045)	(415)	(132)	(33)	(1,497)	(909)	(316)	(415)	(909)	(1,045)	(1,497)	132	(33)	8
Treasury stock
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,422)
Ending balance		(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)
As Previously Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		193,744	199,038	205,152	140,928	171,373	176,938	184,502	192,194	140,928	192,194	140,928	192,194	140,928	192,194
Net loss		(19,559)	(8,332)	(10,898)	(9,052)	(38,763)	(9,724)	(9,603)	(9,236)	(19,950)	(18,839)	(28,282)	(28,563)	(47,841)	(67,326)
Offering costs associated with initial public offering															(266)
Issuance of common stock					68,449									68,453
Options exercised			70	843	1,622		2,060	289	12					2,406	5,271
Foreign currency translation			(630)	(283)	(99)		(588)	(593)	(324)					165	(41)
Employee stock purchase plan			86	620	122		100							1,266	731
Stock-based compensation			3,512	3,600	3,182		2,587	2,343	2,122					12,364	10,365
Ending balance		$ 177,741	$ 193,744	$ 199,038	$ 205,152	$ 140,928	$ 171,373	$ 176,938	$ 184,502	$ 199,038	$ 176,938	$ 193,744	$ 171,373	$ 177,741	$ 140,928	$ 192,194
As Previously Reported | Common Stock [Member]
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance, shares		82,555,907	82,536,046	82,306,873	77,770,588	77,076,771	76,537,568	76,449,162	76,447,287	77,770,588	76,447,287	77,770,588	76,447,287	77,770,588	76,447,287
Beginning balance		$ 824	$ 824	$ 821	$ 776	$ 769	$ 764	$ 763	$ 763	$ 776	$ 763	$ 776	$ 763	$ 776	$ 763
Issuance of common stock, shares					4,312,500									4,312,500
Issuance of common stock					$ 43									$ 43
Options exercised, shares			19,861	192,027	223,785		539,203	88,406	1,875					668,925	1,284,333
Options exercised				$ 3	$ 2		$ 5	$ 1						$ 7	$ 13
Employee stock purchase plan,Shares				37,146										73,442	38,968
Employee stock purchase plan														$ 1
Ending balance, shares		82,825,455	82,555,907	82,536,046	82,306,873	77,770,588	77,076,771	76,537,568	76,449,162	82,536,046	76,537,568	82,555,907	77,076,771	82,825,455	77,770,588	76,447,287
Ending balance		$ 827	$ 824	$ 824	$ 821	$ 776	$ 769	$ 764	$ 763	$ 824	$ 764	$ 824	$ 769	$ 827	$ 776	$ 763
As Previously Reported | Additional Paid-in Capital [Member]
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		296,018	292,350	287,286	213,956	207,109	202,367	199,736	197,868	213,956	197,868	213,956	197,868	213,956	197,868
Offering costs associated with initial public offering															(266)
Issuance of common stock					68,406									68,410
Options exercised			70	840	1,620		2,055	288	12					2,399	5,258
Employee stock purchase plan			86	620	122		100							1,265	731
Stock-based compensation			3,512	3,600	3,182		2,587	2,343	2,122					12,364	10,365
Ending balance		298,394	296,018	292,350	287,286	213,956	207,109	202,367	199,736	292,350	202,367	296,018	207,109	298,394	213,956	197,868
As Previously Reported | Accumulated Deficit
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(96,071)	(87,739)	(76,841)	(67,789)	(29,026)	(19,302)	(9,699)	(463)	(67,789)	(463)	(67,789)	(463)	(67,789)	(463)
Net loss			(8,332)	(10,898)	(9,052)		(9,724)	(9,603)	(9,236)					(47,841)	(67,326)
Ending balance		(115,630)	(96,071)	(87,739)	(76,841)	(67,789)	(29,026)	(19,302)	(9,699)	(87,739)	(19,302)	(96,071)	(29,026)	(115,630)	(67,789)	(463)
As Previously Reported | Accumulated Other Comprehensive Income (Loss)
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(1,045)	(415)	(132)	(33)	(1,497)	(909)	(316)	8	(33)	8	(33)	8	(33)	8
Foreign currency translation			(630)	(283)	(99)		(588)	(593)	(324)					165	(41)
Ending balance		132	(1,045)	(415)	(132)	(33)	(1,497)	(909)	(316)	(415)	(909)	(1,045)	(1,497)	132	(33)	8
As Previously Reported | Treasury stock
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)
Ending balance		(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	(5,982)	$ (5,982)
Adjustments
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(5,252)	(2,433)	(83)	1,677	1,393	216	(605)		1,677		1,677		1,677
Net loss			(2,819)	(2,350)	(1,760)		1,177	821	(605)	(4,110)	216	(6,929)	1,393	(9,693)	1,677
Ending balance		(8,016)	(5,252)	(2,433)	(83)	1,677	1,393	216	(605)	(2,433)	216	(5,252)	1,393	(8,016)	1,677
Adjustments | Accumulated Deficit
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Beginning balance		(5,252)	(2,433)	(83)	1,677	1,393	216	(605)		1,677		1,677		1,677
Net loss			(2,819)	(2,350)	(1,760)		1,177	821	(605)					(9,693)	1,677
Ending balance		$ (8,016)	$ (5,252)	$ (2,433)	$ (83)	$ 1,677	$ 1,393	$ 216	$ (605)	$ (2,433)	$ 216	$ (5,252)	$ 1,393	$ (8,016)	$ 1,677