Net Loss per Share - Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss - basic and diluted	$ (41,307)	$ (43,241)	$ (5,995)
Denominator:
Weighted average common shares outstanding used to compute basic net loss per share	46,553,511	41,854,110	29,478,878
Weighted average common shares outstanding used to compute diluted net loss per share	46,553,511	41,854,110	29,478,878
Net loss per share, basic	$ (0.89)	$ (1.03)	$ (0.20)
Net loss per share, diluted	$ (0.89)	$ (1.03)	$ (0.20)