Income Taxes - Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets
Net operating losses	$ 32,508	$ 32,734
Research credits	3,065	3,047
Property and equipment	422	488
Intangible assets and goodwill	1,293	1,496
Capitalized research and development expense	4,750	0
Operating lease liabilities	6,204	0
Other	3,180	3,297
Total deferred tax assets	51,422	41,062
Valuation allowance	(44,951)	(39,725)	$ (34,039)
Net deferred tax assets	6,471	1,337
Deferred tax liabilities
Intangible assets and goodwill	0	(291)
Capitalized internal-use software	(754)	(815)
Right-of-use assets	(5,580)	0
Other	(137)	(231)
Total deferred tax liabilities	(6,471)	(1,337)
Net deferred tax liabilities	$ 0	$ 0