Leases - Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Operating lease expense	$ 8,703	$ 7,495	$ 6,757
Sublease income			(55)
Net lease expense	8,703	7,495	6,702
Sales, general and administrative expenses
Lessee, Lease, Description [Line Items]
Operating lease expense	4,388	3,820	3,762
Research and development expenses
Lessee, Lease, Description [Line Items]
Operating lease expense	$ 4,315	$ 3,675	$ 2,995