Income Taxes - Reconciliation of U.S Statutory Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Tax at federal statutory rate	$ (11,552)	$ (10,460)	$ (9,947)
State taxes, net of federal benefit	(2,206)	(1,852)	(1,958)
Permanent differences	(2,883)	(5,224)	(8,489)
Change in valuation allowance	18,237	17,918	22,164
General business credits	(1,166)	(852)	(1,268)
Other	(401)	490	(491)
Provision for income taxes	$ 29	$ 20	$ 11