Leases - Lease costs and other lease information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lease costs
Operating lease cost	$ 1,799	$ 1,827	$ 2,457
Variable lease cost	899	823	1,170
Short-term lease cost	217	181	395
Finance lease cost
Interest on lease liabilities	7	25	42
Amortization of right-of-use assets	87	116	116
Sublease Income	(238)	(228)	(228)
Net lease cost	2,771	2,744	3,952
Cash paid for amounts included in the measurement of lease liabilities operating cash flows from operating leases	1,706	1,763	2,432
Right-of-use assets obtained in exchange for new operating lease liabilities	$ 4,266	$ 267	$ 1,555