Leases - Summary of Lease Costs (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Lease Costs
Operating lease costs	$ 593	$ 614	$ 1,779	$ 1,845
Short-term lease costs	39	9	86	24
Variable lease costs	86	32	186	132
Total lease costs	$ 718	$ 655	$ 2,051	$ 2,001