Revenue from Contracts with Customers - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Deferred revenue	$ 5,918	$ 6,256	$ 8,100
Revenue Benchmark | Geographic Concentration Risk | California
Disaggregation of Revenue [Line Items]
Concentration risk, percentage	52.00%	56.00%	61.00%