Leases - Schedule of Lease, Cost (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Leases [Abstract]
Operating lease cost	$ 1,164	$ 1,242	$ 2,354	$ 2,468
Short-term lease cost	0	7	0	18
Variable lease cost	14	17	29	33
Sublease income	(33)	(32)	(65)	(64)
Net lease cost	$ 1,145	$ 1,234	$ 2,318	$ 2,455