Summary of Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Product Information [Line Items]
Contract Assets - unbilled receivables	$ 626	$ 539
Total deferred revenue	8,198	8,996
Less: Long-term deferred revenue	(1,982)	(1,654)
Total current deferred revenue	6,216	7,342
Customer Deposits [Member]
Product Information [Line Items]
Total deferred revenue	1,796	2,339
Product Shipped Revenue Deferred [Member]
Product Information [Line Items]
Total deferred revenue	1,473	1,389
Deferred Service and License Fees [Member]
Product Information [Line Items]
Total deferred revenue	$ 4,929	$ 5,268