Acquisitions - Asset Acquisitions (Details) - USD ($) $ in Thousands			1 Months Ended				12 Months Ended			18 Months Ended
	Mar. 31, 2020	Mar. 12, 2020	Dec. 31, 2021	Sep. 30, 2021	Apr. 30, 2021	Dec. 31, 2019	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Jun. 16, 2023
Business Acquisition [Line Items]
Acquired in-process research and development							$ 0	$ 0	$ 3,297
Developed Technology
Business Acquisition [Line Items]
Payments to acquire developed technology			$ 4,200
Expected payment period			18 months
Transaction costs			$ 200
Asset acquisition consideration			$ 5,300
Weighted-average estimated useful life of intangible assets acquired (years)			7 years
Developed Technology | Forecast
Business Acquisition [Line Items]
Payments to acquire developed technology										$ 900
IPR&D
Business Acquisition [Line Items]
Asset acquisition consideration	$ 2,900	$ 1,500
Acquired in-process research and development	$ 2,100	$ 1,200		$ 300	$ 700	$ 100