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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, shares in Thousands		12 Months Ended
	Apr. 18, 2022	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Feb. 21, 2019
Class Of Stock [Line Items]
Common stock, par value		$ 0.001	$ 0.001
Securities Purchase Agreement \| Verizon Ventures LLC
Class Of Stock [Line Items]
Common stock, par value	$ 0.001
Purchase price per share	$ 4.24
Aggregate purchase price	$ 39,530,000
Issuance costs	$ 160,000
Private Placement \| Securities Purchase Agreement \| Verizon Ventures LLC
Class Of Stock [Line Items]
Aggregate stock purchased	9,323
Common Stock
Class Of Stock [Line Items]
Stock repurchase program, common stock remaining authorized to be repurchased		$ 60,234
Stock repurchase program, stock repurchased, shares		204	1,671	1,227
Stock repurchase program, stock repurchased, value		$ 1,192,000	$ 8,819,000	$ 3,031,000
Aggregate stock purchased		9,323
Common Stock \| Maximum
Class Of Stock [Line Items]
Stock repurchase program, common stock authorized to be repurchased					$ 75,000,000