Summary of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total	$ 608	$ 3,181	$ 2,276	$ 7,423
Share-Based Payment Arrangement, Option [Member] | Cost Of Revenues [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total	(2)	94	10	239
Share-Based Payment Arrangement, Option [Member] | Research and Development Expense [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total	294	521	931	1,416
Share-Based Payment Arrangement, Option [Member] | Selling and Marketing Expense [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total	64	942	216	1,681
Share-Based Payment Arrangement, Option [Member] | Selling, General and Administrative Expenses [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total	$ 252	$ 1,624	$ 1,119	$ 4,087