Leases - Components of Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Lessee Lease Description [Line Items]
Total operating lease cost	$ 478	$ 238	$ 760	$ 534
Finance lease cost
Total finance lease cost	0	13	18	28
Total lease cost	478	251	778	562
Operating Expenses
Lessee Lease Description [Line Items]
Total operating lease cost	465	437	930	851
Sublease income	(85)	(306)	(365)	(538)
Finance lease cost
Amortization of right-of-use assets	(6)	0	4	3
Other Income (Expense), Net
Finance lease cost
Interest on lease liabilities	0	1	0	2
Cost of goods sold
Lessee Lease Description [Line Items]
Total operating lease cost	98	107	195	221
Finance lease cost
Amortization of right-of-use assets	6	12	14	23
Variable lease cost	$ 0	$ 0	$ 0	$ 0