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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 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator:        
Net loss attributable to common stockholders $ (7,257) $ (11,785) $ (26,756) $ (35,936)
Denominator:        
Weighted-average common stock outstanding used to compute basic net loss per share (in shares) 26,017,329 24,728,701 25,532,415 24,514,820
Weighted-average common stock outstanding used to compute diluted net loss per share (in shares) 26,017,329 24,728,701 25,532,415 24,514,820
Net loss per share attributable to common stockholders, basic (in dollars per share) $ (0.28) $ (0.48) $ (1.05) $ (1.47)
Net loss per share attributable to common stockholders, diluted (in dollars per share) $ (0.28) $ (0.48) $ (1.05) $ (1.47)