Deferred Revenues- Summary of Changes in the Total Deferred Revenues Balance (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Contract With Customer, Liability [Roll Forward]
Beginning balance	$ 1,257	$ 1,312	$ 1,386	$ 1,235
Deferral of revenues	480	687	820	1,430
Recognition of deferred revenues	(514)	(620)	(983)	(1,286)
Ending balance	$ 1,223	$ 1,379	$ 1,223	$ 1,379