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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, shares in Thousands
3 Months Ended 6 Months Ended
Apr. 18, 2022
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Feb. 21, 2019
Class Of Stock [Line Items]              
Common stock, par value   $ 0.001   $ 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   $ 60,234      
Stock repurchase program, stock repurchased, shares   0 0 0 204    
Stock repurchase program, stock repurchased, value         $ 1,192,000    
Aggregate stock purchased     9,323   9,323    
Common Stock | Maximum              
Class Of Stock [Line Items]              
Stock repurchase program, common stock authorized to be repurchased             $ 75,000,000