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Net Loss Per Share - Computation of 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
Numerator:        
Net loss $ (6,513) $ (11,015) $ (45,737) $ (50,741)
Preferred stock dividends 546 0 546 0
Net loss attributable to common stockholders, basic (7,059) (11,015) (46,283) (50,741)
Net loss attributable to common stockholders, diluted $ (7,059) $ (11,015) $ (46,283) $ (50,741)
Denominator:        
Weighted-average common shares outstanding, basic (in shares) 31,655,206 30,428,675 31,401,463 30,167,171
Weighted-average common shares outstanding, diluted (in shares) 31,655,206 30,428,675 31,401,463 30,167,171
Net loss per common share, basic (in dollars per share) $ (0.22) $ (0.36) $ (1.47) $ (1.68)
Net loss per common share, diluted (in dollars per share) $ (0.22) $ (0.36) $ (1.47) $ (1.68)