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Summary of Significant Accounting Policies - Narrative (Details)
$ in Thousands
3 Months Ended
Mar. 31, 2023
USD ($)
segment
Mar. 31, 2022
USD ($)
Dec. 31, 2022
USD ($)
Concentration Risk [Line Items]      
Deferred revenue | $ $ 5,015   $ 5,550
Revenue recognized during period | $ $ 2,118 $ 1,735  
Number of operating segments | segment 1    
Number of reportable segments | segment 1    
Geographic Concentration Risk | Revenue from Contract with Customer      
Concentration Risk [Line Items]      
Concentration risk, percentage 100.00% 100.00%  
U.S. | Geographic Concentration Risk | Revenue from Contract with Customer      
Concentration Risk [Line Items]      
Concentration risk, percentage 31.00%