Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
U.S. Federal and state net operating loss carryforwards	$ 11,411	$ 12,356
Foreign net operating loss carryforwards	6,224	5,641
Share-based compensation	441	472
Capitalized research expenses	4,154
Other	427	162
Total deferred tax assets	22,657	18,631
Less: valuation allowance	$ (22,657)	$ (18,631)