Commitments and Contingencies - Components of Lease Cost (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Lease Cost
Operating lease cost	$ 538	$ 538
Short-term lease cost	0	0
Sublease income	(147)	(139)
Total lease cost	391	399
Cash paid for amounts included in the measurement of lease liabilities	$ 641	$ 631
Weighted-average remaining lease term	2 years 5 months 15 days	3 years 3 months 10 days
Weighted-average discount rate	5.85%	5.89%