Cash, Cash Equivalents and Restricted Cash - Additional Information (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022
Cash and Cash Equivalents [Line Items]
Cash and cash equivalents	$ 4,294	$ 34,347	$ 17,861
Long term restricted cash	100	200
Within U.S.
Cash and Cash Equivalents [Line Items]
Cash and cash equivalents	600	24,900
Outside U.S.
Cash and Cash Equivalents [Line Items]
Cash and cash equivalents	$ 4,700	$ 13,600