Income Taxes - Income Tax Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Tax expense at United States statutory rate	$ (19,372)	$ (13,250)	$ (10,042)
Increase (decrease) in tax resulting from:
State taxes, net of federal effect	27	63	42
Non-deductible and other expenses	120	382	165
Foreign tax rate differential	2,436	259	0
Stock-based compensation	2,930	(3,086)	1,077
Change in valuation allowance	13,894	15,712	8,814
Total	$ 35	$ 80	$ 56