Revenue Recognition - Additional Information (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2024 USD ($) Contract	Sep. 30, 2023 USD ($)	Sep. 30, 2024 USD ($) Contract	Sep. 30, 2023 USD ($)
Disaggregation of Revenue [Line Items]
Practical expedient for financing components			true
Percentage of remaining performance obligations	97.00%		97.00%
Minimum period of payment of transaction price in contract with customer			30 days
Maximum period of payment of transaction price in contract with customer			60 days
Interest income	$ 315,000	$ 397,000	$ 886,000	$ 982,000
remaining deferred revenue			12 months
Revenue recognition performance obligation transaction price	300,000		$ 300,000
Revenue, Practical Expedient, Incremental Cost of Obtaining Contract [true false]			true
Revenue from contracts	$ 3,849,000	$ 6,381,000	$ 12,592,000	$ 13,870,000
Contract Contains Significant Financing Component
Disaggregation of Revenue [Line Items]
Number of contract contains significant financing component | Contract	1		1
Payment terms exceeding period	1 year		1 year
Interest rate on adjusted transaction price	11.00%		11.00%
Interest income	$ 2,000		$ 2,000
Revenue recognized excluding financing adjustment	200,000		200,000
Software as a Service
Disaggregation of Revenue [Line Items]
Revenue from contracts	$ 100,000		$ 100,000