Leases - Schedule of Rent Expenses (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Leases [Abstract]
Operating lease expense	$ 852	$ 819	$ 2,552	$ 2,517
Variable and short-term lease expense	41	37	117	140
Rent expense	$ 893	$ 856	$ 2,669	$ 2,657