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Revenue - Additional Information (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2023
USD ($)
Customer
Dec. 31, 2022
USD ($)
Customer
Dec. 31, 2021
Customer
Disaggregation Of Revenue [Line Items]      
Contract assets $ 140 $ 247  
Revenue remaining performance obligation $ 25,000    
Revenue Recognized Percentage 20.00%    
Customer Concentration Risk [Member]      
Disaggregation Of Revenue [Line Items]      
Number Of customers meeting concentration risk threshold | Customer   1 1
Revenue Benchmark [Member] | Customer Concentration Risk [Member]      
Disaggregation Of Revenue [Line Items]      
Number Of customers meeting concentration risk threshold | Customer 2    
Other current assets [Member]      
Disaggregation Of Revenue [Line Items]      
Contract assets $ 100 $ 200  
Other current liabilities [Member]      
Disaggregation Of Revenue [Line Items]      
Contract liabilities $ 2,100 $ 0  
Customer One [Member] | Revenue Benchmark [Member] | Customer Concentration Risk [Member]      
Disaggregation Of Revenue [Line Items]      
Concentration risk, percentage 23.00% 81.00% 80.00%
Customer Two [Member] | Revenue Benchmark [Member] | Customer Concentration Risk [Member]      
Disaggregation Of Revenue [Line Items]      
Concentration risk, percentage 22.00%