Revenue - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Contract revenue
Disaggregation of Revenue [Line Items]
Revenue recognized from previously recorded contract liabilities	$ 405	$ 619	$ 1,242	$ 965
Customer Concentration Risk | Accounts receivable | Customer One
Disaggregation of Revenue [Line Items]
Concentration risk	22.00%				38.00%
Customer Concentration Risk | Accounts receivable | Customer Two
Disaggregation of Revenue [Line Items]
Concentration risk			14.00%