Operating Leases - Components of Lease Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Leases [Abstract]
Operating lease costs	$ 2,444	$ 2,872	$ 3,239
Short-term lease costs	170	252	311
Variable lease costs	422	800	842
Lease costs	$ 3,036	$ 3,924	$ 4,392