Income Taxes - Reconciliation of Liability for Uncertain Tax Positions (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Gross unrecognized tax benefits at January 1	$ 7,422	$ 4,877	$ 2,725
Addition for tax positions taken in the prior years	0	0	0
Reduction for tax positions taken in the prior years	(12)	(62)	(588)
Addition for tax positions taken in current year	3,228	2,607	2,740
Gross unrecognized tax benefits at December 31	$ 10,638	$ 7,422	$ 4,877