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Net Loss Per Share - Amounts used in computing net loss per share (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Net Loss Per Share        
Net loss $ (13,269) $ (5,316) $ (37,198) $ (27,897)
Paid-in-kind dividend on Series C convertible preferred stock (2,000) (2,000) (6,000) (6,000)
Net loss attributable to common stockholders $ (15,269) $ (7,316) $ (43,198) $ (33,897)
Weighted average common shares issued and outstanding - basic (in shares) 48,904,102 48,520,696 48,660,646 49,148,558
Weighted average common shares issued and outstanding - diluted (in shares) 48,904,102 48,520,696 48,660,646 49,148,558
Net loss per share attributable to common stockholders - basic (in dollar per share) $ (0.31) $ (0.15) $ (0.89) $ (0.69)
Net loss per share attributable to common stockholders - diluted (in dollar per share) $ (0.31) $ (0.15) $ (0.89) $ (0.69)