Fair Value of Financial Instruments - Activity of Fair Value Derivative Liability (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Derivative Liability, Fair Value, Gross Liability [Roll Forward]
Balance at beginning of period	$ 1,820
Change in fair value of derivative liability, recorded as other income	(1,060)	$ (600)	$ 286
Balance at end of period	$ 760	$ 1,820