Fair Value Measurements - Fair Value of Preferred Stock Derivative (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value	$ 2,959	$ 8,224	$ 3,117
Quoted Prices in Active Markets for Identical Assets (Level 1) | Derivative liability - other non-current liabilities
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Derivative liability	2,831	7,771
Significant Other Observable Inputs (Level 2) | Derivative liability - other non-current liabilities
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Derivative liability	0	0
Significant Unobservable Inputs (Level 3) | Derivative liability - other non-current liabilities
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Derivative liability	$ 128	$ 453