Segments - Additional Information (Details) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($) customer	Jun. 30, 2022 USD ($) customer	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)
Segment Reporting Information [Line Items]
Number of customers | customer	4	2
Exemplar
Segment Reporting Information [Line Items]
Percentage of revenue attributable to customer	73.30%	64.90%	78.00%	67.90%
Non-US
Segment Reporting Information [Line Items]
Long-lived assets	$ 2,216		$ 2,216		$ 2,591
Revenues	$ 0	$ 70	$ 0	$ 154