Right-of-use Assets and Lease Liabilities - Schedule of Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Assets [Abstract]
Operating lease assets	$ 2,599	$ 2,931
Finance lease assets	$ 302	$ 389
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Property, Plant and Equipment, Net	Property, Plant and Equipment, Net
Total leased assets	$ 2,901	$ 3,320
Liabilities [Abstract]
Operating lease liability, current	$ 669	$ 758
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Current	Other Liabilities, Current
Finance lease liability, current	$ 160	$ 182
Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Current	Other Liabilities, Current
Operating lease liability, long term	$ 2,165	$ 2,409
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Noncurrent	Other Liabilities, Noncurrent
Finance lease liability, long term	$ 148	$ 216
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Noncurrent	Other Liabilities, Noncurrent
Total leased liabilities	$ 3,142	$ 3,565