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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 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Basic and diluted:                
Net loss $ (3,606) $ (15,920) $ (6,705) $ (12,011) $ (17,826) $ (6,476) $ (26,231) $ (36,313)
Basic:                
Weighted-average common shares outstanding, basic (in shares) 17,345     16,541     17,029 16,413
Diluted:                
Weighted-average common shares outstanding, diluted (in shares) 17,345     16,541     17,029 16,413
Net loss per share:                
Basic $ (0.21)     $ (0.73)     $ (1.54) $ (2.21)
Diluted $ (0.21)     $ (0.73)     $ (1.54) $ (2.21)