Income Taxes - Components of Loss Before Provision for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
United States	$ (33,269)	$ (21,037)	$ (23,452)
Foreign	(47)	(53)	(219)
Loss before income taxes	$ (33,316)	$ (21,090)	$ (23,671)