Income Taxes - Schedule of components of income tax expense (benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Current:
Federal	$ 407	$ (727)
State	306	513
Foreign	1,722	1,735
Total current income tax expense	2,435	1,521
Deferred:
Federal	(257)	(3,319)
State	(166)	(80)
Foreign	(1,364)	(364)
Total deferred income tax benefit	(1,787)	(3,763)	$ (4,341)
Total income tax expense (benefit)	$ 648	$ (2,242)	$ (9,308)