Income Taxes - Effective Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Income (loss) before income taxes	$ 997	$ (27,332)	$ (21,770)
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Income taxes computed at the federal statutory rate	209	(5,740)	(4,572)
State income taxes, net of federal benefit	121	(1,513)	(703)
Goodwill impairment	0	0	6,341
Change in valuation allowance	(21,850)	2,070	22,108
Research and development and other tax credits	(88)	(808)	(1,316)
Excess executive compensation	231	272	266
Other	518	567	331
(Benefit from) provision for income taxes	$ (20,859)	$ (5,152)	$ 22,455
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Income taxes computed at the federal statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	12.10%	5.50%	3.20%
Goodwill impairment	0.00%	0.00%	(29.10%)
Change in valuation allowance	(2191.60%)	(7.60%)	(101.60%)
Research and development and other tax credits	(8.80%)	3.00%	6.00%
Excess executive compensation	23.10%	(1.00%)	(1.20%)
Other	52.00%	(2.10%)	(1.50%)
(Benefit from) provision for income taxes	(2092.20%)	18.80%	(103.10%)

Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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