Income Taxes - Narrative (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Operating loss carryforwards	$ 28,700
Deferred tax assets, operating loss carryforwards, subject to expiration	10,600
Deferred tax assets, tax credit carryforwards, research	5,000
Unrecognized tax benefits	1,357	$ 1,056	$ 763	$ 714
Unrecognized tax benefits that would impact effective tax rate	100	200	300
Unrecognized tax benefits that would not impact effective tax rate	1,300	900	$ 500
Unrecognized tax benefits, income tax penalties and interest accrued	$ 100	$ 200