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Revenue, Segment and Geographic Information - Additional Information (Details)
3 Months Ended
Mar. 31, 2023
USD ($)
Segment
Mar. 31, 2022
Segment Reporting Reconciling Item For Operating Profit Loss From Segment To Consolidated [Line Items]    
Number of Reportable Segments | Segment 2  
Germany    
Segment Reporting Reconciling Item For Operating Profit Loss From Segment To Consolidated [Line Items]    
Exception of Long-Lived Assets | $ $ 234,685  
Revenue | Customer Concentration Risk | Non-U.S.    
Segment Reporting Reconciling Item For Operating Profit Loss From Segment To Consolidated [Line Items]    
Concentration risk, percentage 60.00% 70.00%