Net Loss per Share - Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss - basic and diluted	$ (8,363)	$ (8,297)	$ (11,752)	$ (11,580)	$ (16,660)	$ (23,332)
Denominator:
Weighted average common shares outstanding used to compute basic net loss per share	46,553,511		42,247,094		46,553,511	38,402,464
Weighted average common shares outstanding used to compute diluted net loss per share	46,553,511		42,247,094		46,553,511	38,402,464
Net loss per share, basic	$ (0.18)		$ (0.28)		$ (0.36)	$ (0.61)
Net loss per share, diluted	$ (0.18)		$ (0.28)		$ (0.36)	$ (0.61)