Deferred Revenues- Summary of Changes in the Total Deferred Revenues Balance (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Contract With Customer, Liability [Roll Forward]
Beginning balance	$ 1,223	$ 1,379	$ 1,386	$ 1,235
Deferral of revenues	326	702	1,146	2,132
Recognition of deferred revenues	(533)	(557)	(1,516)	(1,843)
Ending balance	$ 1,016	$ 1,524	$ 1,016	$ 1,524