Commitments and Contingencies - Lease Costs (Details) - USD ($) $ in Thousands	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	$ 843	$ 843	$ 2,529	$ 2,529
Variable lease cost	131	121	359	319
Short-term lease cost	48	99	195	318
Total lease cost	$ 1,022	$ 1,063	$ 3,083	$ 3,166