The Company and Summary of Significant Accounting Policies - Revenue Recognition (Details)	3 Months Ended		12 Months Ended
	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2023 USD ($) segment	Dec. 31, 2022 USD ($)
Revenue
Contract liabilities	$ 305,000	$ 338,000	$ 305,000	$ 338,000
Amounts included in contract balances	$ 9,000	$ 22,000	$ 287,000	$ 760,000
Number of operating segments | segment			1
Revenue, Practical Expedient, Incremental Cost of Obtaining Contract			true
Revenue, Practical Expedient, Financing Component			true
Revenue, Practical Expedient, Remaining Performance Obligation			true
Maximum
Revenue Recognition
Sales commissions benefit period			1 year