Balance Sheet Components - Property and Equipment, Net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 7,990	$ 8,458
Less: accumulated depreciation and amortization	(6,373)	(6,343)
Property and equipment, net	1,617	2,115
Depreciation and amortization, property and equipment	900	700
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	3,912	4,225
Equipment and fixtures
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 4,078	$ 4,233