Revenue Recognition - Schedule of Revenue by Contract Type (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Disaggregation of Revenue [Line Items]
Total revenue	$ 4,692	$ 4,419
License and Service Contracts
Disaggregation of Revenue [Line Items]
Total revenue	2,628	2,367
Operating Segments
Disaggregation of Revenue [Line Items]
Total revenue	4,692	4,419
Operating Segments | License and Service Contracts
Disaggregation of Revenue [Line Items]
Total revenue	3,331	3,634
Operating Segments | Subscription-based Contracts
Disaggregation of Revenue [Line Items]
Total revenue	$ 1,361	$ 785