Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Uncertain Tax Positions [Roll Forward]
Gross unrecognized tax benefits as of January 1	$ 2,677	$ 4,022
Increases—prior year tax positions	735	0
Decreases—prior year tax positions	(266)	(1,830)
Increases—current year tax positions	575	485
Gross unrecognized tax benefits as of December 31	$ 3,721	$ 2,677