Leases - Summary of Lease Costs (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Operating leases
Operating lease cost	$ 422	$ 410	$ 1,281	$ 1,289
Variable lease cost	112	101	336	287
Operating lease expense	534	511	1,617	1,576
Finance leases
Non-cash lease expense from right-of-use assets	142	141	424	424
Interest on lease obligations	36	44	113	136
Finance lease expense	178	185	537	560
Short-term lease rent expense	4	5	12	14
Total lease expense	716	701	2,166	2,150
Other information
Payments for principal from operating leases	461	427	1,363	1,338
Payments for interest from finance leases	37	44	114	136
Payments for principal from finance leases	$ 130	$ 121	$ 388	$ 359
Weighted-average remaining lease term – operating leases	2 years 6 months	3 years 2 months 12 days	2 years 6 months	3 years 2 months 12 days
Weighted-average remaining lease term – finance leases	3 years 8 months 12 days	4 years 8 months 12 days	3 years 8 months 12 days	4 years 8 months 12 days
Weighted-average discount rate – operating leases	6.50%	6.40%	6.50%	6.40%
Weighted-average discount rate – finance leases	6.40%	6.40%	6.40%	6.40%