Revenue Recognition - Revenue by Timing of Transfer of Goods or Services (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 3,184	$ 4,238	$ 7,490	$ 8,930
Goods or services transferred at a point in time
Disaggregation of Revenue [Line Items]
Total revenue	733	2,020	2,502	4,713
Goods or services transferred over time
Disaggregation of Revenue [Line Items]
Total revenue	$ 2,451	$ 2,218	$ 4,988	$ 4,217