Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Summary Of Significant Accounting Policies [Line Items]
Federal tax expense (benefit)	$ 0
Automated Equipment Installation and System Integration Services
Summary Of Significant Accounting Policies [Line Items]
Deferred revenue	18,800,000	$ 16,500,000
Service Maintenance Contracts
Summary Of Significant Accounting Policies [Line Items]
Deferred revenue	18,800,000	16,500,000
Equipment Rental Agreements
Summary Of Significant Accounting Policies [Line Items]
Deferred revenue	$ 18,800,000	16,500,000
PSU
Summary Of Significant Accounting Policies [Line Items]
Share based compensation arrangement by share based payment award award vesting period	2 years
Minimum
Summary Of Significant Accounting Policies [Line Items]
Revenue from guaranteed maintenance contracts	3 years
Minimum | PSU
Summary Of Significant Accounting Policies [Line Items]
Percentage of target award amount on number of shares granted	0.00%
Maximum
Summary Of Significant Accounting Policies [Line Items]
Revenue from guaranteed maintenance contracts	5 years
Contract term	1 year
Maximum | PSU
Summary Of Significant Accounting Policies [Line Items]
Percentage of target award amount on number of shares granted	200.00%
Equipment
Summary Of Significant Accounting Policies [Line Items]
Deferred revenue	$ 2,600,000	2,900,000
Recognized liability for guarantee to repurchase	$ 6,900,000	$ 7,200,000