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		13			13
Vesting of share-based awards and exercise of stock options (in shares)	42,987
Shares withheld for employee taxes		(157)			(157)
Shares withheld for employee taxes (in shares)	(13,448)
Foreign currency translation adjustment			314		314
Stock-based compensation expense		2,950			2,950
Sale of common stock, net of underwriting discounts, commissions and offering costs	$ 4	34,396			34,400
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares)	4,600,000
Net loss				(34,317)	(34,317)
Balance at Ending period at Sep. 30, 2022	$ 19	287,266	262	(264,246)	23,301
Balance at Ending period (in shares) at Sep. 30, 2022	19,159,145
Balance at Beginning of period at Jun. 30, 2022	$ 15	251,846	129	(253,532)	(1,542)
Balance at Beginning of period (in shares) at Jun. 30, 2022	14,557,560
Vesting of share-based awards and exercise of stock options		1			1
Vesting of share-based awards and exercise of stock options (in shares)	2,115
Shares withheld for employee taxes		(4)			(4)
Shares withheld for employee taxes (in shares)	(530)
Foreign currency translation adjustment			133		133
Stock-based compensation expense		1,027			1,027
Sale of common stock, net of underwriting discounts, commissions and offering costs	$ 4	34,396			34,400
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares)	4,600,000
Net loss				(10,714)	(10,714)
Balance at Ending period at Sep. 30, 2022	$ 19	287,266	262	(264,246)	23,301
Balance at Ending period (in shares) at Sep. 30, 2022	19,159,145
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		101			$ 101
Vesting of share-based awards and exercise of stock options (in shares)	119,240				19,556
Issuance of common stock under the employee stock purchase plan		88			$ 88
Issuance of common stock under the employee stock purchase plan (in shares)	10,602
Shares withheld for employee taxes		(285)			(285)
Shares withheld for employee taxes (in shares)	(26,481)
Foreign currency translation adjustment			(15)		(15)
Stock-based compensation expense		3,791			3,791
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				(33,774)	(33,774)
Balance at Ending period at Sep. 30, 2023	$ 24	338,392	135	(307,999)	30,552
Balance at Ending period (in shares) at Sep. 30, 2023	24,487,578
Balance at Beginning of period at Jun. 30, 2023	$ 24	336,939	84	(297,042)	40,005
Balance at Beginning of period (in shares) at Jun. 30, 2023	24,475,504
Vesting of share-based awards and exercise of stock options		1			1
Vesting of share-based awards and exercise of stock options (in shares)	2,002
Issuance of common stock under the employee stock purchase plan		88			88
Issuance of common stock under the employee stock purchase plan (in shares)	10,602
Shares withheld for employee taxes		(5)			(5)
Shares withheld for employee taxes (in shares)	(530)
Foreign currency translation adjustment			51		51
Stock-based compensation expense		1,369			1,369
Net loss				(10,957)	(10,957)
Balance at Ending period at Sep. 30, 2023	$ 24	$ 338,392	$ 135	$ (307,999)	$ 30,552
Balance at Ending period (in shares) at Sep. 30, 2023	24,487,578