Income Taxes - Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred income tax assets
Net operating loss carryforwards	$ 51,932	$ 48,556
Stock-based compensation	1,029	507
Intangible assets and other	7,298	4,235
Net deferred income tax assets	60,259	53,298
Less:
Valuation allowance	$ (60,259)	$ (53,298)	$ (64,245)