Balance Sheet Components - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Balance Sheet Components [Line Items]
Depreciation and amortization expense on property and equipment	$ 2.6	$ 2.4
Amortization expense on intangible assets	$ 8.2	8.2
Weighted average amortization period for intangible assets	6 years 8 months 12 days
Equipment Under Customer Usage Agreements
Balance Sheet Components [Line Items]
Depreciation and amortization expense on property and equipment	$ 2.3	$ 2.1