Contract Liabilities - Additional Information (Details) - USD ($)		12 Months Ended
	Jan. 01, 2022	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Contract with Customer, Liability [Abstract]
Contract liabilities, current		$ 11,956,000	$ 15,255,000
Contract liabilities, non-current		3,047,000	2,897,000
Revenue recognized from contract liabilities		$ 21,581,000
Revenue from contract liabilities	$ 12,900,000		$ 14,600,000
Contract liabilities recognized				$ 0