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Net Loss Per Share Attributable to Common Stockholders - Schedule of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Earnings Per Share [Abstract]        
Net loss $ (9,682) $ (9,615) $ (37,482) $ (36,935)
Accretion of redeemable convertible preferred stock to redemption value and cumulative preferred stock dividends 0 (1,322) 0 (4,548)
Net loss attributable to common stockholders $ (9,682) $ (10,937) $ (37,482) $ (41,483)
Weighted-average number of shares outstanding used to compute net loss per share attributable to common stockholders, basic 26,336,029 15,585,611 26,290,868 7,554,300
Weighted-average number of shares outstanding used to compute net loss per share attributable to common stockholders, diluted 26,336,029 15,585,611 26,290,868 7,554,300
Net loss per share attributable to common stockholders, Basic $ (0.37) $ (0.70) $ (1.43) $ (5.49)
Net loss per share attributable to common stockholders, Diluted $ (0.37) $ (0.70) $ (1.43) $ (5.49)