Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Deferred contract costs					$ 300
Refund liability					$ 500
Total revenue	$ 5,950	$ 5,200	$ 11,383	$ 10,231
Revenue, remaining performance obligation amount	$ 900		$ 900
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01
Disaggregation of Revenue [Line Items]
Revenue, remaining performance obligation, period	12 months		12 months
Minimum
Disaggregation of Revenue [Line Items]
Contract liabilities, service agreements, terms	1 year		1 year
Maximum
Disaggregation of Revenue [Line Items]
Contract liabilities, service agreements, terms	3 years		3 years
Capital Equipment Related Service Revenue
Disaggregation of Revenue [Line Items]
Total revenue	$ 500		$ 800