Income Taxes - Components of Loss before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Domestic	$ (30,297)	$ (90,584)	$ (72,164)
Foreign	(33,275)	(16,791)	(23,499)
Loss before income taxes	$ (63,572)	$ (107,375)	$ (95,663)