Income Taxes - Summary of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns
Unrecognized benefit—beginning of year	$ 4,692	$ 3,105	$ 2,159
Gross (decreases) increases—prior year tax positions	(210)	32	0
Gross increases—current year tax positions	1,327	1,555	946
Unrecognized benefit—end of year	$ 5,809	$ 4,692	$ 3,105