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Net Loss Per Share - Summary of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Numerator:            
Net loss $ (15,804) $ (15,323) $ (10,120) $ (7,655) $ (31,127) $ (17,775)
Accretion to redemption value and cumulative dividends on preferred stock           (1,820)
Net loss attributable to common stockholders $ (15,804)   $ (10,120)   $ (31,127) $ (19,595)
Denominator:            
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, basic 19,497,494   19,258,066   19,442,010 11,263,804
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, diluted 19,497,494   19,258,066   19,442,010 11,263,804
Net loss per share attributable to common stockholders, basic $ (0.81)   $ (0.53)   $ (1.60) $ (1.74)
Net loss per share attributable to common stockholders, diluted $ (0.81)   $ (0.53)   $ (1.60) $ (1.74)