Commitments and Contingencies - Schedule of Operating Leases (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating lease cost	$ 1,730,000	$ 1,432,000	$ 4,699,000	$ 4,298,000
Other lease cost	52,000	85,000	210,000	230,000
Operating lease expense	1,782,000	1,517,000	4,909,000	4,528,000
Short-term lease rent expense	0	38,000	132,000	141,000
Total rent expense	$ 1,782,000	$ 1,555,000	$ 5,041,000	$ 4,669,000