Summary of Significant Accounting Policies - Reconciliation of Weighted Average Shares Outstanding for the Basic and Diluted Earnings Per Share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounting Policies [Abstract]
Net loss	$ (69,319)	$ (75,799)	$ (36,562)
Basic:
Weighted average common shares (in shares)	27,152	25,088	19,014
Loss from per common share, basic (in dollars per share)	$ (2.55)	$ (3.02)	$ (1.92)
Diluted:
Weighted average common shares (in shares)	27,152	25,088	19,014
Loss per common share, diluted (in dollars per share)	$ (2.55)	$ (3.02)	$ (1.92)