Leases - Summary of Lease Cost and Other Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Leases [Abstract]
Operating cash flows from operating leases	$ 6,983,000	$ 6,276,000
Operating cash flows from finance leases	20,000	23,000
Financing cash flows from finance leases	333,000	236,000	$ 135,000
Right-of-use assets obtained in exchange for operating lease liabilities	2,126,000	929,000	0
Right-of-use assets obtained in exchange for finance lease liabilities	$ 0	$ 448,000	$ 524,000
Weighted average remaining lease term (years)	4 years 9 months 18 days	4 years 10 months 24 days
Weighted average discount rate	7.30%	7.00%
Weighted average remaining lease term (years)	1 year 6 months	1 year 9 months 18 days
Weighted average discount rate	3.80%	4.30%