Summary of Significant Accounting Policies - Summary of Revenue from External Customers by Geographic Areas (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 4,170	$ 3,681
United States
Disaggregation of Revenue [Line Items]
Total revenue	2,248	2,023
Outside the United States
Disaggregation of Revenue [Line Items]
Total revenue	$ 1,922	$ 1,658