Stock-Based Compensation - Employee Stock Purchase Plan (Details) $ in Thousands		12 Months Ended
	Oct. 26, 2021 USD ($)	Dec. 31, 2022 USD ($) employee shares	Dec. 31, 2021 USD ($) employee	Dec. 31, 2020 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense		$ 9,982	$ 10,657	$ 9,362
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense		$ 191	$ 25	$ 0
Employee Stock Purchase Plan | 2021 Stock Repurchase Program
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum employee subscription rate	15.00%
Maximum employee subscription amount	$ 21,250
Purchase price discount	85.00%
Number of employees | employee		78	95
Number of shares purchased (in shares) | shares		22,909
Fair value of shares purchased		$ 604
Expected contributions		588	$ 514
Total stock-based compensation expense		$ 137