Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss	$ (11,872)	$ (11,774)	$ (23,635)	$ (21,661)
Denominator:
Weighted-average shares of common stock outstanding	23,493,613	23,329,756	23,492,960	23,306,708
Net loss per share, basic and diluted	$ (0.51)	$ (0.50)	$ (1.01)	$ (0.93)