Commitment and Contingencies - Supplemental Information Related to Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating lease expense	$ 394	$ 409
Variable lease expense	76	104
Total lease expense	470	513
Cash paid for amounts included in the measurement of operating lease liabilities	398	408
Leased assets obtained in exchange for new operating lease liabilities	$ 21	$ 0
Weighted average remaining lease term (in years)	2 years 9 months 29 days		3 years 18 days
Weighted average discount rate	5.77%		5.77%