Accrued Expenses and Other Current Liabilities - Additional Information (Details) $ in Thousands	1 Months Ended	3 Months Ended		6 Months Ended
	Apr. 30, 2023 Employee	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)
Accrued Expenses And Other Current Liabilities [Line Items]
Accrued serverance expenses				$ 2,199
Stock-based compensation expense		$ 1,808	$ 2,879	$ 5,930	$ 5,507
Standard product warranty description				the Company’s products are covered by warranties for software and hardware for periods ranging from 90 days to two years.
Extended product warranty description				the Company offers an extended warranty for periods typically of one to three years for agreed-upon fees.
Estimated reduction in current workforce, number of employees | Employee	134
Percentage of estimated workforce to be reduced	13.00%
Employee Severance and Other Employee Related Costs
Accrued Expenses And Other Current Liabilities [Line Items]
Restructuring charges		$ 2,151		$ 2,151
Separation Agreement
Accrued Expenses And Other Current Liabilities [Line Items]
Stock-based compensation expense				3,936
Separation Agreement | Mr. Jerry Guo
Accrued Expenses And Other Current Liabilities [Line Items]
Stock-based compensation expense				$ 1,737
Minimum
Accrued Expenses And Other Current Liabilities [Line Items]
Product warranties period for software and hardware				90 days
Extended product warranty period for renewals of maintenance and support contracts				1 year
Maximum
Accrued Expenses And Other Current Liabilities [Line Items]
Product warranties period for software and hardware				2 years
Extended product warranty period for renewals of maintenance and support contracts				3 years