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Net Loss per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Numerator:    
Net loss attributable to common stockholders $ (32,956) $ (47,082)
Denominator:    
Weighted-average common stock outstanding used to compute basic net loss per share (in shares) 25,851,813 24,594,784
Weighted-average common stock outstanding used to compute diluted net loss per share (in shares) 25,851,813 24,594,784
Net loss per share attributable to common stockholders, basic (in dollars per share) $ (1.27) $ (1.91)
Net loss per share attributable to common stockholders, diluted (in dollars per share) $ (1.27) $ (1.91)