Indebtedness - Schedule of Long-term Debt (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Debt, current portion	$ 11,613	$ 11,613
Debt, non-current portion	6,436	11,988
Credit Facility
Debt Instrument [Line Items]
Debt, current portion	11,613	11,613
Debt, non-current portion	6,774	12,581
Total debt	18,387	24,194
Less: unamortized debt discount and issuance costs	(338)	(593)
Debt, net	$ 18,049	$ 23,601