Revenue Recognition - Summary of Significant Changes in Contract Liability Balances (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2022	Sep. 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	$ (1,445)	$ (1,729)
Increases due to cash received, excluding amounts recognized as revenue during the period	1,207	913
Transfers between current and non-current liabilities due to the expected revenue recognition period	412	586
Total increase(decrease) in contract liabilities:	174	(230)
Deferred Revenue, Long-term
Disaggregation of Revenue [Line Items]
Increases due to cash received, excluding amounts recognized as revenue during the period	591	617
Transfers between current and non-current liabilities due to the expected revenue recognition period	(412)	(586)
Total increase(decrease) in contract liabilities:	$ 179	$ 31