Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Common stock	Additional paid-in capital	Accumulated other comprehensive income	Accumulated deficit	Total
Balance at Beginning of period at Dec. 31, 2021	$ 15	$ 250,064	$ (52)	$ (229,929)	$ 20,098
Balance at Beginning of period (in shares) at Dec. 31, 2021	14,529,577
Vesting of common stock previously subject to repurchase (in shares)	29
Vesting of share-based awards and exercise of stock options		12			12
Vesting of share-based awards and exercise of stock options (in shares)	40,872
Shares withheld for employee taxes		(153)			(153)
Shares withheld for employee taxes (in shares)	(12,918)
Foreign currency translation adjustment			181		181
Stock-based compensation expense		1,923			1,923
Net loss				(23,603)	(23,603)
Balance at Ending period at Jun. 30, 2022	$ 15	251,846	129	(253,532)	(1,542)
Balance at Ending period (in shares) at Jun. 30, 2022	14,557,560
Balance at Beginning of period at Mar. 31, 2022	$ 15	250,819	(5)	(240,791)	10,038
Balance at Beginning of period (in shares) at Mar. 31, 2022	14,556,748
Vesting of common stock previously subject to repurchase (in shares)	2
Vesting of share-based awards and exercise of stock options		5			5
Vesting of share-based awards and exercise of stock options (in shares)	810
Foreign currency translation adjustment			134		134
Stock-based compensation expense		1,022			1,022
Net loss				(12,741)	(12,741)
Balance at Ending period at Jun. 30, 2022	$ 15	251,846	129	(253,532)	(1,542)
Balance at Ending period (in shares) at Jun. 30, 2022	14,557,560
Balance at Beginning of period at Dec. 31, 2022	$ 19	288,361	150	(274,225)	14,305
Balance at Beginning of period (in shares) at Dec. 31, 2022	19,165,027
Vesting of share-based awards and exercise of stock options		100			$ 100
Vesting of share-based awards and exercise of stock options (in shares)	117,238				19,429
Shares withheld for employee taxes		(280)			$ (280)
Shares withheld for employee taxes (in shares)	(25,951)
Foreign currency translation adjustment			(66)		(66)
Stock-based compensation expense		2,422			2,422
Sale of common stock, net of underwriting discounts, commissions and offering costs	$ 5	46,336			46,341
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares)	5,219,190
Net loss				(22,817)	(22,817)
Balance at Ending period at Jun. 30, 2023	$ 24	336,939	84	(297,042)	40,005
Balance at Ending period (in shares) at Jun. 30, 2023	24,475,504
Balance at Beginning of period at Mar. 31, 2023	$ 19	289,254	120	(286,252)	3,141
Balance at Beginning of period (in shares) at Mar. 31, 2023	19,227,777
Vesting of share-based awards and exercise of stock options		56			56
Vesting of share-based awards and exercise of stock options (in shares)	28,650
Shares withheld for employee taxes		(1)			(1)
Shares withheld for employee taxes (in shares)	(113)
Foreign currency translation adjustment			(36)		(36)
Stock-based compensation expense		1,294			1,294
Sale of common stock, net of underwriting discounts, commissions and offering costs	$ 5	46,336			46,341
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares)	5,219,190
Net loss				(10,790)	(10,790)
Balance at Ending period at Jun. 30, 2023	$ 24	$ 336,939	$ 84	$ (297,042)	$ 40,005
Balance at Ending period (in shares) at Jun. 30, 2023	24,475,504