Segments - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Exemplar
Segment Reporting Information [Line Items]
Percentage of revenue attributable to customer	59.60%	61.50%	51.90%
Non-US
Segment Reporting Information [Line Items]
Revenues	$ 233	$ 378	$ 595
Long-lived assets	$ 2,591	$ 4,463