Income Taxes - Income from continuing operations before income taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
U.S.	$ (9,569)	$ (15,056)	$ 1,046
Non-U.S.	(2,124)	(11,087)	(4,466)
Loss before income taxes	$ (11,693)	$ (26,143)	$ (3,420)