Revenue Recognition - Revenue by Timing of Transfer of Goods or Services (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 4,305	$ 4,692
Goods or services transferred at a point in time
Disaggregation of Revenue [Line Items]
Total revenue	1,768	2,693
Goods or services transferred over time
Disaggregation of Revenue [Line Items]
Total revenue	$ 2,537	$ 1,999