Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Accounting Policies [Line Items]
Loss on impairment of long lived assets	$ 0		$ 536,000	$ 446,000
Goodwill impairment			0
Allowance for doubtful accounts	1,300,000		1,300,000		$ 900,000
Contract liabilities	300,000		300,000		$ 400,000
Revenue recognized	100,000		400,000
Total revenues	18,563,000	$ 15,900,000	50,762,000	52,562,000
Non-US
Accounting Policies [Line Items]
Total revenues	$ 1,000,000	$ 1,900,000	$ 3,000,000	$ 6,100,000