Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss	$ (21,235)	$ (19,184)	$ (20,468)	$ (18,651)	$ (16,110)	$ (16,514)	$ (60,887)	$ (51,275)
Denominator:
Weighted-average shares used to compute net loss per share, basic	33,684,261			29,491,857			31,481,948	26,663,209
Weighted-average shares used to compute net loss per share, diluted	33,684,261			29,491,857			31,481,948	26,663,209
Net loss per share, basic	$ (0.63)			$ (0.63)			$ (1.93)	$ (1.92)
Net loss per share, diluted	$ (0.63)			$ (0.63)			$ (1.93)	$ (1.92)

The amount of net income (loss) for the period per each share of common stock or unit outstanding during the reporting period.

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- Definition

The amount of net income (loss) for the period available to each share of common stock or common unit outstanding during the reporting period and to each share or unit that would have been outstanding assuming the issuance of common shares or units for all dilutive potential common shares or units outstanding during the reporting period.

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The portion of profit or loss for the period, net of income taxes, which is attributable to the parent.

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