Income Taxes - Reconciliation of unrecognized tax benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits, beginning of period	$ 469	$ 477	$ 627
Increases - tax positions in current period	98	20	0
Increases - tax positions in prior period	78	0	0
Decreases in prior year positions	0	(28)	(150)
Unrecognized tax benefits, end of period	$ 645	$ 469	$ 477