Income Taxes - Geographical Breakdown of Income (Loss) Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Income (loss) before income taxes	$ (35,432)	$ (31,470)	$ (19,581)
Domestic
Income Taxes [Line Items]
Income (loss) before income taxes	(33,496)	(6,031)	(19,276)
Foreign
Income Taxes [Line Items]
Income (loss) before income taxes	$ (1,936)	$ (25,439)	$ (305)