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Net Loss per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Numerator    
Net loss attributable to common stockholders, basic $ (58,923) $ (48,661)
Net loss attributable to common stockholders, diluted $ (58,923) $ (48,661)
Denominator    
Weighted-average common stock outstanding (in shares) 37,248,292 36,406,507
Less: weighted-average common shares subject to repurchase (in shares) (151,751) (277,098)
Weighted-average shares used in computing net loss per share attributable to common stockholders, basic (in shares) 37,096,541 36,129,409
Weighted-average shares used in computing net loss per share attributable to common stockholders, diluted (in shares) 37,096,541 36,129,409
Net loss per share attributable to common stockholders, basic (in dollars per share) $ (1.59) $ (1.35)
Net loss per share attributable to common stockholders, diluted (in dollars per share) $ (1.59) $ (1.35)