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Leases - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2022
Lessee, Lease, Description [Line Items]      
Operating lease expense $ 353 $ 452  
Short-term lease costs 19 25  
Net investment in lease, current 3,284    
Net investment in lease, noncurrent 3,269    
Sales-type lease, interest income 129 $ 168  
Lessor, operating lease, term of contract     3 years
Lessor, operating lease, gross costs 1,861    
Lessor, operating lease, accumulated depreciation $ 975    
Lessor, operating lease, useful life 5 years    
Depreciation expense $ 93    
Lease revenue $ 125    
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration] Revenue from Contract with Customer, Excluding Assessed Tax    
Minimum      
Lessee, Lease, Description [Line Items]      
Sales-type leases, term of contracts 3 years    
Maximum      
Lessee, Lease, Description [Line Items]      
Sales-type leases, term of contracts 5 years