Cash, Cash Equivalents and Restricted Cash - Additional Information (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022	Mar. 31, 2022
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents	$ 28,892	$ 34,347	$ 34,160
Long term restricted cash	100	200
Outside U.S.
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents	14,100	13,600
Within U.S.
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents	$ 16,800	$ 24,900