Income Taxes - Reconciliation of Beginning and Ending Unrecognized Tax Benefit (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Balance at beginning of year	$ 4,188	$ 1,255	$ 1,036
(Decreases) related to prior year's tax positions	(31)
Increases related to prior year's tax positions		2,252
Increases related to current year tax positions	983	681	219
Balance at end of year	$ 5,140	$ 4,188	$ 1,255