Income Taxes - Schedule of Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Statutory U.S. federal tax rate	$ (14,152)	$ (2,726)	$ 1,055
State taxes net of federal benefit	(1,901)	(492)	99
Non-U.S. earnings taxed at rates different than the U.S. statutory rate	(80)	(150)	80
Foreign source earnings, net of associated foreign tax credits	486	601	306
Benefit of tax credits	(458)	(1,569)	(670)
Stock based compensation	(2,852)	(212)	(4,913)
PPP loan forgiveness			(861)
Change in valuation allowance	18,664	3,970	6,300
Change in unrecognized tax benefits	92	710	10
Other	137	581	121
Total income tax (benefit) expense	$ (64)	$ 713	$ 1,527