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Income Taxes - Components of Income Tax Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Current:    
Federal $ 0 $ 0
State 66 46
Foreign 232 321
Total current expense 298 367
Deferred:    
Federal 32 (18)
State 14 (1)
Foreign 9 (5)
Total deferred expense 55 (24)
Total income tax expense $ 353 $ 343