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Net Loss Per Share - Schedule of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Earnings Per Share [Abstract]              
Net loss $ (3,968) $ (9,682)       $ (31,478) $ (37,482)
Weighted Average Number of Shares Outstanding, Basic 27,071,053 26,336,029       26,803,468 26,290,868
Weighted-average number of shares outstanding, Diluted 27,071,053 26,336,029       26,803,468 26,290,868
Earnings Per Share, Basic $ (0.15) $ (0.37) $ (0.37) $ (1.17) $ (1.43) $ (1.17) $ (1.43)
Earnings Per Share, Diluted $ (0.15) $ (0.37) $ (0.37) $ (1.17) $ (1.43) $ (1.17) $ (1.43)