Summary of Significant Accounting Policies - Cash, Cash Equivalents, and Restricted Cash (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022	Mar. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Cash and cash equivalents	$ 37,786	$ 48,667
Restricted cash	462	462
Total cash, cash equivalents, and restricted cash shown in the statement of cash flows	$ 38,248	$ 49,129	$ 83,279	$ 101,118