Net Loss per Share (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
Net Loss per Share
Net loss attributable to common stockholders	$ (19,839)	$ (20,831)	$ (26,983)	$ (22,906)	$ (22,740)	$ (16,086)	$ (67,653)	$ (61,732)
Weighted-average common shares outstanding, basic	36,905,818			34,436,793			35,766,217	34,360,274
Weighted-average common shares outstanding, diluted	36,905,818			34,436,793			35,766,217	34,360,274
Net loss per share attributable to common stockholders, basic	$ (0.54)			$ (0.67)			$ (1.89)	$ (1.80)
Net loss per share attributable to common stockholders, diluted	$ (0.54)			$ (0.67)			$ (1.89)	$ (1.80)