Summary of Significant Accounting Policies - Summary of Depreciation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounting Policies [Abstract]
Cost of revenues	$ 20,437	$ 21,903	$ 21,755
Operating expense	51,901	52,338	56,637
General and administrative expense	$ 2,661	$ 2,972	$ 3,429