Revenue Recognition - Summary of Significant Changes in Contract Liability Balances (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Deferred Revenue
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the contract liability balance at the beginning of the period	$ (1,123)	$ (1,293)
Increases due to cash received, excluding amounts recognized as revenue during the period	885	715
Transfers between current and non-current liabilities due to the expected revenue recognition period	403	450
Total increase(decrease) in contract liabilities:	165	(128)
Deferred Revenue, Long-term
Disaggregation of Revenue [Line Items]
Increases due to cash received, excluding amounts recognized as revenue during the period	446	456
Transfers between current and non-current liabilities due to the expected revenue recognition period	(403)	(450)
Total increase(decrease) in contract liabilities:	$ 43	$ 6