Long-Term Debt - Schedule of Long-Term Debt (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Debt Disclosure [Abstract]
Principal amount of long-term debt	$ 32,500	$ 32,500
Debt Instrument, Unamortized Discount (Premium), Net	(196)	277
Cumulative accrual of end of term payments	1,315	1,157
Long-Term Debt, Including Accretion	33,619	33,934
Long-term Debt, Current Maturities	(1,315)	(795)
Long-term debt, net of current portion	$ 32,304	$ 33,139