Revenues - Additional Information (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023	Dec. 31, 2023
Disaggregation Of Revenue [Line Items]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 16,101,000	$ 13,696,000	$ 45,516,000	$ 45,970,000
Contract with Customer, Right to Recover Product	200,000		200,000		$ 100,000
Contract with Customer, Liability, Current	29,000		29,000		$ 17,000
Recognized revenue remaining performance obligations	100,000		100,000
United States
Disaggregation Of Revenue [Line Items]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 8,800,000	$ 8,200,000	$ 28,100,000	$ 27,600,000