Income Taxes - Reconciliation of Unrecognized Tax Benefits (Expenses) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits as of January 1	$ 1,653	$ 1,771
Gross decrease in unrecognized tax benefits - prior year tax position	(160)	(104)
Lapse of statute of limitations	(11)	(14)
Unrecognized tax benefits as of December 31	$ 1,482	$ 1,653