Leases - Summary of Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022
Leases, Operating [Abstract]
Operating lease right-of-use assets	$ 14,192	$ 15,774	$ 15,194
Operating lease liabilities	$ 14,503	$ 16,035	$ 15,425
Weighted-average remaining lease term (in years)	5 years	5 years 9 months 18 days	6 years 1 month 6 days
Weighted-average discount rate	2.75%	2.67%	2.68%