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Net Loss Per Share - Reconciliation of the Numerator and Denominator used in Computing Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Numerator:            
Net Income (Loss) $ (8,066) $ (4,358) $ (11,523) $ (10,461) $ (12,424) $ (21,984)
Denominator:            
Weighted-average shares outstanding - basic 26,713   25,429   26,499 25,204
Weighted-average shares outstanding - diluted 26,713   25,429   26,499 25,204
Net loss per share - basic $ (0.3)   $ (0.45)   $ (0.47) $ (0.87)
Net loss per share - diluted $ (0.3)   $ (0.45)   $ (0.47) $ (0.87)