Leases - Components of Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Lease cost
Operating lease cost	$ 1,387	$ 1,386
Short-term lease cost	232	355
Variable lease cost	450	82
Total lease cost	2,069	1,823
Cash paid for amounts included in the measurement of lease liabilities
Operating cash flows from operating leases	$ 1,514	$ 1,711
Weighted-average remaining lease term — operating leases	4 years	4 years 4 months 24 days
Weighted-average discount rate — operating leases	5.10%	4.20%