Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Accounting Policies [Line Items]
Goodwill impairment			$ 0
Allowance for doubtful accounts	$ 1,100,000		1,100,000		$ 900,000
Contract liabilities	300,000		300,000		$ 400,000
Revenue recognized	100,000		300,000
Total revenues	16,720,000	$ 16,640,000	32,199,000	$ 36,662,000
Non-US
Accounting Policies [Line Items]
Total revenues	$ 1,000,000	$ 1,400,000	$ 1,900,000	$ 4,700,000