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Income Tax Matters - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Tax Credit Carryforward [Line Items]        
Net operating loss $ 160,700,000      
Operating loss expiration period Dec. 31, 2030      
Increase (decrease) in valuation allowance $ (900,000) $ (1,800,000) $ (3,500,000)  
Gross unrecognized tax benefits 5,000,000.0 4,100,000 3,800,000 $ 4,100,000
Amount that would be reflected in income tax provision if unrecognized tax benefits are recognized 5,000,000.0      
Accrued interest and penalties on unrecognized tax benefits 100,000 200,000    
Accrued interest and penalties on unrecognized tax benefits, current 0 $ 0    
(Decrease) increase in interest and penalties     $ 300,000  
Research Tax Credit Carryforward        
Tax Credit Carryforward [Line Items]        
Tax credit carryforward $ 12,000,000.0      
Tax credit carryforward expiration period Dec. 31, 2042