Revenue - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Total revenue	$ 100,936	$ 114,080	$ 26,759
Contract asset	3,600	2,200
Contract asset revenue expected to be recognized	3,600
Recognized revenue	3,975	650	500
Grant
Disaggregation of Revenue [Line Items]
Total revenue	$ 300	$ 1,300	$ 0