Income Taxes - Components of Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax [Line Items]
Income (Loss) from Continuing Operations before Income Taxes, Noncontrolling Interest	$ (79,966)	$ (110,967)	$ (104,524)
Domestic
Income Tax [Line Items]
Income (Loss) from Continuing Operations before Income Taxes, Noncontrolling Interest	(76,572)	(107,582)	(97,982)
Foreign
Income Tax [Line Items]
Income (Loss) from Continuing Operations before Income Taxes, Noncontrolling Interest	$ (3,394)	$ (3,385)	$ (6,542)