Summary of Significant Accounting Policies - Additional Information (Details)	12 Months Ended
	Dec. 31, 2022 USD ($) Customer	Dec. 31, 2021 USD ($) Customer	Dec. 31, 2020 USD ($)
Disclosure Of Significant Of Accounting Policies [Line Items]
Cash and cash equivalents	$ 11,749,000	$ 29,963,000
Marketable securities	17,229,000
Bad debt expense unbilled receivables	230,000	0
Goodwill impairment	0
Goodwill	$ 3,120,000	$ 3,120,000	$ 1,651,000
Percentage of remaining performance obligations	72.00%
Practical expedient for financing components	true
Minimum period of payment of transaction price in contract with customer	30 days
Maximum period of payment of transaction price in contract with customer	60 days
Revenue | Customer Concentration Risk [Member]
Disclosure Of Significant Of Accounting Policies [Line Items]
Percentage of revenue owned by customers	10.00%	10.00%
Number of customers | Customer	0	0
Minimum
Disclosure Of Significant Of Accounting Policies [Line Items]
Percentage of likelihood for goodwill examination of quantitative test	50.00%
U S Treasuries And Corporate Bonds
Disclosure Of Significant Of Accounting Policies [Line Items]
Marketable securities	$ 17,200,000	$ 0
Fair Value, Measurements, Recurring
Disclosure Of Significant Of Accounting Policies [Line Items]
Note receivable	2,601,000
Contingent acquisition payment	812,000	919,000
Decrease in fair value recognized due to change in forecasted revenue	100,000
Fair Value, Measurements, Recurring | Quoted Prices in Active Markets for Identical Assets (Level 1)
Disclosure Of Significant Of Accounting Policies [Line Items]
Note receivable	0
Contingent acquisition payment	$ 0	$ 0