Description of Business and Summary of Significant Accounting Policies - Immaterial Correction of Prior Period Financial Statements (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit	$ 128,745		$ 130,567
Stockholders' equity	$ 67,566	$ 65,807	$ 62,906	$ 63,866	$ 70,374	$ 75,250
Revision of Prior Period, Error Correction, Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit				1,600
Stockholders' equity				(1,600)
Previously Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit				126,361
Stockholders' equity				$ 65,479