Leases - Summary of Lease Costs (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Lessee, Lease, Description [Line Items]
Finance lease cost, amortization	$ 631	$ 651
Finance lease cost, interest expense	66	66
Total lease cost	1,903	2,115
Cost of revenue
Lessee, Lease, Description [Line Items]
Operating lease cost	561	694
Cost of revenue | Operating Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	100	100
Cost of revenue | Finance Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	900	800
Selling, general and administrative expenses
Lessee, Lease, Description [Line Items]
Operating lease cost	645	704
Selling, general and administrative expenses | Operating Lease
Lessee, Lease, Description [Line Items]
Variable lease costs	$ 100	$ 100