Commitments and Contingencies - Additional Information (Details)	1 Months Ended		12 Months Ended
	Apr. 29, 2022 USD ($)	Sep. 30, 2021 USD ($) Option Squarefeet	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Mar. 15, 2023 USD ($)	Jan. 31, 2023	Feb. 28, 2021 USD ($)
Commitments And Contingencies [Line Items]
Operating lease liabilities		$ 6,800,000	$ 6,601,000
Operating lease right-of-use assets		$ 6,900,000	5,765,000	$ 7,165,000
Lease liability, current portion			$ 628,000	750,000
ROU asset and operating lease liability, weighted-average incremental borrowing rate			7.70%
Operating lease, weighted-average remaining lease term			6 years 4 months 24 days
Operating lease costs			$ 1,600,000	1,500,000	$ 1,300,000
Cash paid for operating lease liabilities			$ 1,100,000	1,400,000	$ 1,200,000
Settlement liability				34,372,000
Subsequent Event
Commitments And Contingencies [Line Items]
Operating lease, term of contract							76 years
Operating lease, renewal term							5 years
Settlement liability						$ 249,500
Civil Settlement Agreement
Commitments And Contingencies [Line Items]
Settlement liability				$ 34,400,000
Civil Settlement Agreement | U.S. Government
Commitments And Contingencies [Line Items]
Settlement Liability	$ 34,400,000
Nashville, Tennessee
Commitments And Contingencies [Line Items]
Operating lease liabilities								$ 400,000
Operating lease right-of-use assets								$ 400,000
San jose, California
Commitments And Contingencies [Line Items]
Number of square feet of office space leased | Squarefeet		30,000
Operating lease, term of contract		93 months
Operating lease, renewal term		60 months
Operating lease number of renewal options | Option		2
Operating lease, description			The lease commenced in September 2021 and has a 93-month term with two 60-month renewal options, which are not reasonably certain of being exercised.