Cash, cash equivalents, and restricted cash - Schedule of Cash, Cash Equivalents, and Restricted Cash (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022	Dec. 31, 2021
Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents [Abstract]
Cash and cash equivalents	$ 25,226	$ 37,887
Restricted cash	508	878
Total cash, cash equivalents, and restricted cash	$ 25,734	$ 38,765	$ 41,213	$ 143,345