Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Computed statutory income tax benefit from continuing operations	$ (16,793)	$ (23,303)	$ (21,950)
State and provincial income tax benefit, net of federal income taxes	(2,884)	(4,670)	(5,199)
Nondeductible stock based compensation	179	832	5,709
Nondeductible officer compensation	263	1,459	728
Impairment of goodwill	101	0	0
Nondeductible equity investment loss	3,093	0	0
Research and development tax incentives	(991)	(958)	(524)
Acquisition and internal restructuring transaction costs	0	0	0
United States-foreign rate differential	18	(32)	(21)
Other, net	533	(46)	(306)
Income tax reconciliation income tax benefit before valuation allowance, total	(16,481)	(26,718)	(21,563)
Change in valuation allowance for deferred tax assets	16,292	26,558	21,481
Total income tax benefit from continuing operations	$ (189)	$ (160)	$ (82)