Cash, Cash Equivalents and Restricted Cash - Additional Information (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022	Jun. 30, 2022
Cash and Cash Equivalents [Line Items]
Cash and cash equivalents	$ 9,662	$ 34,347	$ 17,125
Long term restricted cash	100	200
Within U.S.
Cash and Cash Equivalents [Line Items]
Cash and cash equivalents	3,200	24,900
Outside U.S.
Cash and Cash Equivalents [Line Items]
Cash and cash equivalents	$ 7,500	$ 13,600