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Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss per Share of Common Stock (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Basic and diluted:            
Net loss $ (15,920) $ (6,705) $ (17,826) $ (6,476) $ (22,625) $ (24,302)
Basic:            
Weighted-average common shares outstanding, basic (in shares) 17,156   16,500   16,869 16,348
Diluted:            
Weighted-average common shares outstanding, diluted (in shares) 17,156   16,500   16,869 16,348
Net loss per share:            
Basic $ (0.93)   $ (1.08)   $ (1.34) $ (1.49)
Diluted $ (0.93)   $ (1.08)   $ (1.34) $ (1.49)