Organization and Summary of Significant Accounting Policies - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended		36 Months Ended
	Mar. 31, 2023	Sep. 30, 2022	Sep. 30, 2023	Dec. 31, 2021	Dec. 31, 2020	Jun. 30, 2023	Dec. 31, 2022	Jun. 30, 2022	Mar. 31, 2022	Jan. 01, 2022	Dec. 31, 2018
Significant Accounting Policies [Line Items]
Billed amount under agreement											$ 59,000
Amount of payments collected					$ 41,700
Accounts receivable recovered				$ 3,100
Allowance for doubtful accounts			$ 12,300
Cumulative adjustment to retained earnings	$ 117,214	$ 102,578	64,072	131,907		$ 96,179	$ 138,582	$ 113,122	$ 126,411
Accumulated deficit
Significant Accounting Policies [Line Items]
Cumulative adjustment to retained earnings	$ (152,488)	$ (118,504)	$ (211,337)	(86,999)		$ (177,324)	$ (128,670)	$ (107,550)	$ (94,986)
Cumulative Effect, Period of Adoption, Adjustment
Significant Accounting Policies [Line Items]
Cumulative adjustment to retained earnings				(401)
Cumulative Effect, Period of Adoption, Adjustment | Accumulated deficit
Significant Accounting Policies [Line Items]
Cumulative adjustment to retained earnings				$ (401)						$ 400
Customer Concentration Risk | Sales Revenue, Net | Customer One
Significant Accounting Policies [Line Items]
Concentration risk, percentage		13.00%	12.00%
Geographic Concentration Risk | Accounts receivable | Foreign Countries
Significant Accounting Policies [Line Items]
Concentration risk, percentage	85.00%		67.00%