Income Taxes - Component of (Loss) Income Before Income Tax (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Domestic	$ (69,981)	$ (53,202)	$ (44,010)
Foreign	5,144	4,024	(3,006)
Loss before income taxes	$ (64,837)	$ (49,178)	$ (47,016)