Income Taxes - Reconciliation 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 [Roll Forward]
Balance at the beginning of year	$ 3,314	$ 2,019	$ 1,436
Increases related to current years’ tax positions	474	704	342
Increases related to prior years’ tax positions		591	241
Balance at end of year	$ 3,788	$ 3,314	$ 2,019