Income Taxes - Loss before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Domestic	$ (63,939)	$ (40,897)	$ (109,837)
Foreign	(4,495)	(6,823)	(601)
Loss before income taxes	$ (68,434)	$ (47,720)	$ (110,438)