Net Loss per Share - Schedule of Computation of Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Earnings Per Share [Abstract]
Net loss	$ (17,310)	$ (18,433)	$ (12,874)	$ (11,602)	$ (35,743)	$ (24,476)
Weighted-average number of shares - basic and diluted	45,571,067		45,070,104		45,518,845	44,928,518
Net loss per share - basic and diluted	$ (0.38)		$ (0.29)		$ (0.79)	$ (0.54)