Income Taxes - Additional Information (Details)	12 Months Ended
	Dec. 31, 2022 USD ($)
Operating Loss Carryforwards [Line Items]
Valuation allowance reduction due to Tax Act	$ 100,000
Undistributed earnings of foreign subsidiaries	4,000,000.0
Withholding tax liability	400,000
Unrecognized tax benefits that would reduce effective tax rate	71,297
Unrecognized tax benefits, interest on income taxes accrued	41,873
Unrecognized tax benefits expected to reverse, net twelve months	$ 13,316
Tax year under examination	2021
Minimum
Operating Loss Carryforwards [Line Items]
Tax year remain subject to examination	2018
Maximum
Operating Loss Carryforwards [Line Items]
Tax year remain subject to examination	2022
Domestic tax authority
Operating Loss Carryforwards [Line Items]
Federal net operating loss carryforwards	$ 84,600,000
To Expire Beginning 2030 [Member] | Domestic tax authority
Operating Loss Carryforwards [Line Items]
Federal net operating loss carryforwards	$ 79,900,000
Federal net operating loss carryforwards expiration year	2030
Carried Forward Indefinitely [Member] | Domestic tax authority
Operating Loss Carryforwards [Line Items]
Federal net operating loss carryforwards	$ 4,600,000
Percentage of taxable income	80.00%
Research tax credit carryforward
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards	$ 3,100,000
Tax credit carryforward expiration year	2023