Net Loss Per Share Attributable to Common Stockholders - Other (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Income loss (Numerator):
Net loss - basic and diluted	$ (14,301)	$ (17,859)	$ (16,096)	$ (18,911)	$ (17,920)	$ (20,602)	$ (48,256)	$ (57,433)
Shares (Denominator):
Weighted-average shares for basic EPS (in shares)	27,839,968			27,748,844			27,814,655	27,734,271
Weighted-average shares for diluted EPS (in shares)	27,839,968			27,748,844			27,814,655	27,734,271
Basic EPS (in dollars per share)	$ (0.51)			$ (0.68)			$ (1.73)	$ (2.07)
Diluted EPS (in dollars per share)	$ (0.51)			$ (0.68)			$ (1.73)	$ (2.07)