Summary of Significant Accounting Policies - Summary of Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounts Receivable, after Allowance for Credit Loss, Current [Abstract]
Balance at beginning of year	$ 1,399	$ 1,161	$ 1,193
Charged to costs and expenses	1,088	1,066	1,298
Other activity		(12)	33
Deductions from reserves	(1,267)	(816)	(1,363)
Balance at end of year	$ 1,220	$ 1,399	$ 1,161