Revenue - Schedule of Disaggregation of Revenue (Details)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue, percentage	100.00%	100.00%
Minerva ES
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue, percentage	45.20%	44.00%
Genesys HTA
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue, percentage	27.80%	30.30%
Symphion
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue, percentage	26.30%	25.10%
Other
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue, percentage	0.70%	0.60%