Operating Leases - Components of Lease Costs (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Leases [Abstract]
Operating lease costs	$ 617	$ 613	$ 1,232	$ 1,240
Short-term lease costs	10	49	30	102
Variable lease costs	86	121	206	224
Lease costs	$ 713	$ 783	$ 1,468	$ 1,566