Income Taxes - Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
United States	$ (31,061)	$ (6,021)	$ (8,772)
Foreign	(1,856)	3,006	2,337
Loss before income taxes	$ (32,917)	$ (3,015)	$ (6,435)