Leases - Schedule of Components of Lease Expense (Details) - USD ($) $ in Thousands		3 Months Ended		9 Months Ended
		Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Lease, Cost [Abstract]
Operating lease expense		$ 1,192	$ 1,446	$ 3,673	$ 4,667
Short-term lease expense	[1]	113	143	423	473
Total		1,305	1,589	4,096	5,140
Less: Sublease income		(64)	(56)	(190)	(102)
Total lease expense		$ 1,241	$ 1,533	$ 3,906	$ 5,038

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