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Income Taxes - Summary of Operating Loss Carryforwards (Details)
$ in Thousands
Dec. 31, 2022
USD ($)
Domestic Tax Authority  
Operating Loss Carryforwards [Line Items]  
Operating loss carryforwards subject to expiration $ 1,963
Operating loss carryforwards and tax credit carryforwards subject to limitation 592
U.S. State research and development credits 416
Foreign Tax Authority  
Operating Loss Carryforwards [Line Items]  
Operating loss carryforwards and tax credit carryforwards subject to limitation 267
Foreign Tax Authority | Her Majesty's Revenue and Customs (HMRC)  
Operating Loss Carryforwards [Line Items]  
U.S. State research and development credits 526
Foreign Tax Authority | Canada Revenue Agency  
Operating Loss Carryforwards [Line Items]  
U.S. State research and development credits 1,551
State and Local Jurisdiction  
Operating Loss Carryforwards [Line Items]  
Operating loss carryforwards and tax credit carryforwards subject to limitation 676
Operating loss carryforwards, not subject to expiration $ 6,864