Commitment and Contingencies - Supplemental Information Related to Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating lease expense	$ 386	$ 396	$ 1,170	$ 1,202
Variable lease expense	140	118	340	341
Total lease expense	526	514	1,510	1,543
Cash paid for amounts included in the measurement of operating lease liabilities	401	396	1,237	1,201
Leased assets obtained in exchange for new operating lease liabilities	$ 19	$ 0	$ 143	$ 77
Weighted average remaining lease term (in years)	2 years 5 months 1 day		2 years 5 months 1 day		3 years 18 days
Weighted average discount rate	5.87%		5.87%		5.77%