Revenue Recognition - Revenue by Timing of Transfer of Goods or Services (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 6,381	$ 3,015	$ 13,870	$ 11,945
Goods or services transferred at a point in time
Disaggregation of Revenue [Line Items]
Total revenue	4,391	770	6,893	5,484
Goods or services transferred over time
Disaggregation of Revenue [Line Items]
Total revenue	$ 1,990	$ 2,245	$ 6,977	$ 6,461