Net Loss Per Share - Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (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	$ (19,278)	$ (6,775)	$ (8,028)	$ (21,702)	$ (21,809)	$ (10,308)	$ (34,081)	$ (53,819)
Net loss attributable to common stockholders	$ (19,278)			$ (21,702)			$ (34,081)	$ (53,819)
Denominator:
Weighted average common shares outstanding, basic	25,159,757			22,325,334			23,373,684	21,599,405
Weighted average common shares outstanding, diluted	25,159,757			22,325,334			23,373,684	21,599,405
Net loss per share attributable to common stockholders, basic	$ (0.77)			$ (0.97)			$ (1.46)	$ (2.49)
Net loss per share attributable to common stockholders, diluted	$ (0.77)			$ (0.97)			$ (1.46)	$ (2.49)