Revenue Recognition - Schedule of Revenue by Contract Type (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
License and Service Contracts
Disaggregation of Revenue [Line Items]
Total revenue	1,039	2,018	3,145	4,646
Operating Segments
Disaggregation of Revenue [Line Items]
Total revenue	3,184	4,238	7,490	8,930
Operating Segments | License and Service Contracts
Disaggregation of Revenue [Line Items]
Total revenue	2,748	3,884	5,605	7,215
Operating Segments | Subscription-based Contracts
Disaggregation of Revenue [Line Items]
Total revenue	$ 436	$ 354	$ 1,885	$ 1,715