Net Loss Per Share Attributable to Common Stockholders - Computation of EPS (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended			6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Numerator:
Net loss attributable to common stockholders	$ (23,431)	$ (23,959)	$ (22,815)	$ (47,390)	$ (46,461)
Denominator:
Weighted-average common shares used in computing net loss per share attributable to common stockholders, basic (in shares)	63,762,625		62,376,571	63,654,348	62,191,068
Weighted-average common shares used in computing net loss per share attributable to common stockholders, diluted (in shares)	63,762,625		62,376,571	63,654,348	62,191,068
Net loss per share attributable to common shareholders, basic (in usd per share)	$ (0.37)		$ (0.37)	$ (0.74)	$ (0.75)
Net loss per share attributable to common shareholders, diluted (in usd per share)	$ (0.37)		$ (0.37)	$ (0.74)	$ (0.75)