Net Loss per Share - Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss - basic and diluted	$ (14,831)	$ (8,363)	$ (8,297)	$ (10,673)	$ (11,752)	$ (11,580)	$ (31,491)	$ (34,005)
Denominator:
Weighted average common shares outstanding used to compute basic net loss per share	46,553,511			43,947,004			46,553,511	40,270,954
Weighted average common shares outstanding used to compute diluted net loss per share	46,553,511			43,947,004			46,553,511	40,270,954
Net loss per share, basic	$ (0.32)			$ (0.24)			$ (0.68)	$ (0.84)
Net loss per share, diluted	$ (0.26)			$ (0.24)			$ (0.62)	$ (0.84)