Commitments and Contingencies - Schedule of Lease Costs (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating lease cost	$ 779	$ 779	$ 1,557	$ 1,540
Short-term lease cost	13	10	26	20
Total lease cost	$ 792	$ 789	$ 1,583	$ 1,560