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Net Loss Per Share - Computation of Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Numerator:        
Net loss $ (16,393) $ (19,042) $ (39,224) $ (39,726)
Denominator:        
Weighted-average common shares outstanding, basic (in shares) 31,380,505 30,097,749 31,272,489 30,034,252
Weighted-average common shares outstanding, diluted (in shares) 31,380,505 30,097,749 31,272,489 30,034,252
Net loss per common share, basic (in dollars per share) $ (0.52) $ (0.63) $ (1.25) $ (1.32)
Net loss per common share, diluted (in dollars per share) $ (0.52) $ (0.63) $ (1.25) $ (1.32)