Segments - Additional Information (Details) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023 USD ($) customer	Sep. 30, 2022 USD ($) customer	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($) customer	Dec. 31, 2022 USD ($)
Segment Reporting Information [Line Items]
Number of customers | customer	4	1		4
Exemplar
Segment Reporting Information [Line Items]
Percentage of revenue attributable to customer	78.70%	41.10%	78.20%	62.40%
Non-US
Segment Reporting Information [Line Items]
Long-lived assets	$ 1,908		$ 1,908		$ 2,591
Revenues	$ 0	$ 63	$ 0	$ 217