Revenues - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Disaggregation Of Revenue [Line Items]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 15,184,000	$ 15,830,000	$ 29,415,000	$ 32,274,000
Contract with Customer, Right to Recover Product	100,000		100,000		$ 100,000
Contract with Customer, Liability, Current	30,200		30,200		$ 17,000
Recognized revenue remaining performance obligations	200,000		200,000
United States
Disaggregation Of Revenue [Line Items]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 9,300,000	$ 9,400,000	$ 19,300,000	$ 19,500,000