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Net Loss per Share Attributable to Common Stockholders - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Numerator:    
Net loss attributable to common stockholders $ (10,375) $ (11,461)
Denominator:    
Weighted-average common stock outstanding used to compute basic net loss per share (in shares) 25,097,262 24,307,485
Weighted-average common stock outstanding used to compute diluted net loss per share (in shares) 25,097,262 24,307,485
Net loss per share attributable to common stockholders, basic (in dollars per share) $ (0.41) $ (0.47)
Net loss per share attributable to common stockholders, diluted (in dollars per share) $ (0.41) $ (0.47)