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Commitments and Contingencies - Narrative (Details) - USD ($)
6 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Other Commitments [Line Items]    
Operating lease liabilities that had not commenced. $ 0  
Purchase commitments related to inventory management and training materials 400,000 $ 800,000
Indemnification Agreement    
Other Commitments [Line Items]    
Costs to defend lawsuits or settle claims 0  
Liability associated with indemnifications $ 0