Income Taxes - Summary of Changes in Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Gross unrecognized tax benefits at the beginning of the year	$ 1,791	$ 1,575
Increases related to current year tax positions	207	204
Increases related to prior year tax positions	22	12
Gross unrecognized tax benefits at the end of the year	$ 2,020	$ 1,791