Revenue and Contract Balances - Deferred Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Change in Contract with Customer, Liability [Roll Forward]
Balance, beginning of year	$ 1,975	$ 1,585
Add: net increase in current period contract liabilities	1,942	1,936
Less: revenue recognized from beginning balance	(1,959)	(1,546)
Balance, end of year	$ 1,958	$ 1,975