Revenue - Additional Information (Details) - USD ($)	1 Months Ended	12 Months Ended
	Aug. 31, 2016	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2014
Revenues [Line Items]
Long-term trade credit maintenance services term (in years)		1 year
Long-term trade receivables		$ 9,000,000	$ 5,400,000
Allowance for doubtful accounts		300,000	0
Deferred revenue, recognized		$ 10,500,000	$ 9,300,000	$ 8,300,000
Minimum
Revenues [Line Items]
Expected long-term trade receivables collection period (in years)		3 years
Maximum
Revenues [Line Items]
Expected long-term trade receivables collection period (in years)		4 years
Itochu Corporation Agreement
Revenues [Line Items]
Remaining term of distribution agreement (in years)	8 years 6 months
Itochu Corporation Agreement | Distribution Rights
Revenues [Line Items]
Distribution revenue reclassified as deferred revenue					$ 4,000,000
Remaining term of distribution agreement (in years)	8 years 6 months