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Net Loss per Share - Net Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator:                
Net loss - basic and diluted $ (6,000) $ (6,503) $ (7,873) $ (14,831) $ (8,363) $ (8,297) $ (20,376) $ (31,491)
Denominator:                
Weighted average common shares outstanding used to compute basic net loss per share 48,971,246     46,553,511     47,683,792 46,553,511
Weighted average common shares outstanding used to compute diluted net loss per share 48,971,246     46,553,511     47,683,792 46,553,511
Net loss per share, basic $ (0.12)     $ (0.32)     $ (0.43) $ (0.68)
Net loss per share, diluted $ (0.12)     $ (0.32)     $ (0.43) $ (0.68)