Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Numerator:
Net loss	$ (15,682)	$ (15,034)	$ (17,831)	$ (26,021)	$ (27,011)	$ (33,051)	$ (48,547)	$ (86,083)
Denominator:
Weighted-average number of shares of common stock outstanding - basic	1,819,066			1,801,391			1,816,294	1,796,800
Weighted-average number of shares of common stock outstanding - diluted	1,819,066			1,801,391			1,816,294	1,796,800
Net loss per share - basic	$ (8.62)			$ (14.44)			$ (26.73)	$ (47.91)
Net loss per share - diluted	$ (8.62)			$ (14.44)			$ (26.73)	$ (47.91)