Summary of Significant Accounting Policies - Revenue by Timing of Transfer of Goods or Services (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Total revenue	$ 16,008	$ 16,854
Goods or services transferred at a point in time
Disaggregation of Revenue [Line Items]
Total revenue	7,178	7,992
Goods or services transferred over time
Disaggregation of Revenue [Line Items]
Total revenue	$ 8,830	$ 8,862