Stockholders' Equity - Summary of Stock-based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Share-based compensation
Stock-based compensation expense	$ 621	$ 736
Cost of revenues
Share-based compensation
Stock-based compensation expense	14	(35)
Sales and marketing
Share-based compensation
Stock-based compensation expense	136	176
Research and development
Share-based compensation
Stock-based compensation expense	71	138
General and administrative
Share-based compensation
Stock-based compensation expense	$ 400	$ 457