Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended		12 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Accounting Policies [Line Items]
Goodwill impairment	$ 0		$ 0
Allowance for doubtful accounts	1,000,000		900,000
Contract liabilities	400,000		$ 400,000
Revenue recognized	200,000
Total revenues	15,479,000	$ 20,022,000
Non-US
Accounting Policies [Line Items]
Total revenues	$ 900,000	$ 3,100,000