Segment Information - Segment Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Segment Reporting Asset Reconciling Item [Line Items]
Total assets	$ 123,912	$ 137,285
Product
Segment Reporting Asset Reconciling Item [Line Items]
Total assets	112,473	125,713
Software
Segment Reporting Asset Reconciling Item [Line Items]
Total assets	$ 11,439	$ 11,572