Related Party Transactions - Additional Information (Details) - Director - License Agreement - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Related Party Transaction [Line Items]
Percentage of revenue paid as royalty	4.00%
Royalty estimated useful life	15 years
Related party transaction term of agreement	20 years
Related party transaction, agreement renewal term	5 years
Due to related parties	$ 0	$ 66
Due to related parties	164	163
Payments to related party	249	87	$ 111
Selling, general and administrative expenses from transactions with related party	405	$ 542	$ 520
Minimum \| Annual Payment Threshold
Related Party Transaction [Line Items]
Due to related parties	$ 250

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Carrying amount as of the balance sheet date of obligations due all related parties. For classified balance sheets, represents the current portion of such liabilities (due within one year or within the normal operating cycle if longer).

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Useful life of finite-lived intangible assets, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Direct costs arising from transactions with related parties who are not affiliates or joint Ventures. These costs are categorized as cost of goods sold.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Amount of selling, general and administrative expenses resulting from transactions, excluding transactions that are eliminated in consolidated or combined financial statements, with related party.

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