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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Jan. 01, 2022
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]        
Deferred tax assets, deferred expense, capitalized research and development costs increase (decrease)     $ 4,600  
Valuation allowance, deferred tax asset, increase (decrease), amount $ 12,800 $ 7,800    
Unrecognized tax benefits 1,601 $ 1,489   $ 1,390
Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward 10,400      
Current Year        
Operating Loss Carryforwards [Line Items]        
Valuation allowance, deferred tax asset, increase (decrease), amount 16,700      
Valuation allowance, deferred tax liabilities, increase (decrease), amount 3,900      
Domestic Tax Authority        
Operating Loss Carryforwards [Line Items]        
Capitalized expenses, amortization period     5 years  
Operating loss carryforwards 151,600      
Operating loss carryforwards, limitations on use 99,100      
Operating loss carryforwards amount permanently limited 226,800      
Unrecognized tax benefits 300      
Domestic Tax Authority | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward 3,500      
Foreign Tax Authority        
Operating Loss Carryforwards [Line Items]        
Capitalized expenses, amortization period     15 years  
State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 142,600      
Operating loss carryforwards amount permanently limited 150,700      
Unrecognized tax benefits 1,300      
State and Local Jurisdiction | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward $ 12,600