Revenue Recognition - Schedule of Revenue by Contract Type (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 4,305	$ 4,692
License and Service Contracts
Disaggregation of Revenue [Line Items]
Total revenue	2,105	2,628
Operating Segments
Disaggregation of Revenue [Line Items]
Total revenue	4,305	4,692
Operating Segments | License and Service Contracts
Disaggregation of Revenue [Line Items]
Total revenue	2,856	3,331
Operating Segments | Subscription-based Contracts
Disaggregation of Revenue [Line Items]
Total revenue	$ 1,449	$ 1,361