Net Loss Per Share - Calculation of Basic and Diluted 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	$ (68,239)	$ (54,630)	$ (41,742)
Denominator:
Weighted-average shares of common stock outstanding	67,368,935	52,759,335	44,004,190
Net loss per common share, Basic	$ (1.01)	$ (1.04)	$ (0.95)
Net loss per common share, Diluted	$ (1.01)	$ (1.04)	$ (0.95)