Income Taxes - Schedule of Changes in 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]
Beginning balance of unrecognized tax benefits	$ 1,490	$ 748	$ 597
Increases for current year tax positions	127	138	131
Increases (decreases) for prior year tax positions	(577)	577
Ending balance (excluding interest and penalties)	1,040	1,463	728
Interest and penalties	27	27	20
Total	$ 1,067	$ 1,490	$ 748