Revenue - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets	$ 0		$ 0
Deferred revenue current	8,800,000		8,200,000
Deferred revenue, non-current	400,000		$ 300,000
Deferred revenue, revenue recognized	$ 6,800,000	$ 5,000,000.0