Leases - Schedule of Components of Lease Expense (Details) - USD ($) $ in Thousands		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lease, Cost [Abstract]
Operating lease expense		$ 6,089	$ 6,383	$ 5,024
Short-term lease expense	[1]	638	832	982
Total		6,727	7,215	6,006
Less: Sublease income		(155)	(61)	(236)
Total lease expense		$ 6,572	$ 7,154	$ 5,770

[1] Short-term lease expense includes all leases with lease terms ranging from less than one month to one year.