Income Taxes - Summary of Income Tax Contingencies (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits, opening balance	$ 1,635	$ 1,674	$ 2,161
Gross increases in tax positions taken in a prior year		82	115
Gross decreases in tax positions taken in a prior year	(10)
Gross increases in tax positions taken in the current year	294	316	283
Lapse of applicable statute of limitations	(343)	(437)	(885)
Unrecognized tax benefits, ending balance	$ 1,576	$ 1,635	$ 1,674