Debt - Summary of Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Debt Disclosure [Abstract]
Contractual interest expense	$ 2,554	$ 2,011	$ 6,016	$ 6,025
Accretion of debt in interest expense	541	504	1,594	1,485
Total interest expense	$ 3,095	$ 2,515	$ 7,610	$ 7,510