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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 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Numerator:        
Net loss attributable to common stockholders $ (9,124) $ (12,690) $ (19,499) $ (24,151)
Denominator:        
Weighted-average common stock outstanding used to compute basic net loss per share (in shares) 25,472,526 24,503,552 25,285,933 24,406,100
Weighted-average common stock outstanding used to compute diluted net loss per share (in shares) 25,472,526 24,503,552 25,285,933 24,406,100
Net loss per share attributable to common stockholders, basic (in dollars per share) $ (0.36) $ (0.52) $ (0.77) $ (0.99)
Net loss per share attributable to common stockholders, diluted (in dollars per share) $ (0.36) $ (0.52) $ (0.77) $ (0.99)