Summary of Significant Accounting Policies - Summary of Revenue from External Customers by Geographic Areas (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 5,238	$ 3,644	$ 14,696	$ 11,401
United States
Disaggregation of Revenue [Line Items]
Total revenue	3,347	1,925	8,720	5,985
Outside the United States
Disaggregation of Revenue [Line Items]
Total revenue	$ 1,891	$ 1,719	$ 5,976	$ 5,416