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The Company (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Apr. 26, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Apr. 30, 2021
Subsidiary, Sale of Stock [Line Items]          
Proceeds from issuance of common stock in initial public offering, net of underwriter discount and commissions     $ 109,089 $ 0  
Common stock authorized (in shares) 200,000,000   200,000,000 74,636,348 200,000,000
Common stock par value (in dollars per share) $ 0.001   $ 0.001 $ 0.001 $ 0.001
Preferred stock authorized (in shares) 10,000,000   10,000,000 10,000,000  
Preferred stock, par value (in dollars per share) $ 0.001   $ 0.001 $ 0.001  
Accumulated deficit     $ 423,771 $ 387,691  
Net cash used in operating activities     24,577 $ 21,609  
Cash, cash equivalents, and short-term investments     115,600    
Minimum annual net revenue     43,000    
Minimum cash and cash equivalents required after completion of IPO     $ 5,000    
Forecast          
Subsidiary, Sale of Stock [Line Items]          
Minimum annual net revenue   $ 43,000      
Common Stock          
Subsidiary, Sale of Stock [Line Items]          
Net exercise of common stock warrants (in shares)     185    
Redeemable Convertible Preferred Stock Converted Into Common Stock          
Subsidiary, Sale of Stock [Line Items]          
Conversion of stock, shares issued (in shares) 16,614,178        
Redeemable Convertible Preferred Stock Converted Into Warrants To Purchase Series B' Convertible Preferred Stock          
Subsidiary, Sale of Stock [Line Items]          
Conversion of stock, shares issued (in shares) 346,823        
Redeemable Convertible Preferred Stock Converted Into Warrants Exercised To Series B' Convertible Preferred Stock          
Subsidiary, Sale of Stock [Line Items]          
Conversion of stock, shares issued (in shares) 213,941        
Redeemable Convertible Preferred Stock Converted Into Warrants To Purchase Common Stock          
Subsidiary, Sale of Stock [Line Items]          
Conversion of stock, shares issued (in shares) 219        
IPO          
Subsidiary, Sale of Stock [Line Items]          
Number of shares issued in transaction (in shares) 6,900,000        
Sale of stock (in dollars per share) $ 17.00        
Proceeds from issuance of common stock in initial public offering, net of underwriter discount and commissions $ 117,300        
Consideration received on transaction 105,500        
Sale of stock, underwriting discounts 8,200        
Sale of stock, offering costs $ 3,600        
Over-Allotment Option | Maximum          
Subsidiary, Sale of Stock [Line Items]          
Number of shares issued in transaction (in shares) 900,000