Restructuring Costs - Schedule of Restructuring Liabilities (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Restructuring Reserve [Roll Forward]
Balance at beginning of period	$ 772,000
Restructuring costs	229,000	$ 0
Payments	(379,000)
Balance at end of period	$ 622,000