Revenue - Narrative (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022	Jan. 01, 2022
Disaggregation of Revenue [Line Items]
Revenue	$ 679,000	$ 2,110,000
Accounts receivable	555,000		$ 686,000	$ 300,000
Contract asset	0	0
Contract liability	4,000,000		$ 3,400,000	$ 2,900,000
Revenue recognized	120,000	1,400,000
Bill-and-hold
Disaggregation of Revenue [Line Items]
Revenue	$ 0	$ 67,000