The cumulative amount of the reporting entity's undistributed earnings or deficit.

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-Name Accounting Standards Codification
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Reference 2: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
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Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef
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Name:	us-gaap_RetainedEarningsAccumulatedDeficit
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

Basis of Presentation and Summary of Significant Accounting Policies - Accounts Receivable and Geographic information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Concentration Risk [Line Items]
Contract with customer, payment terms	30 days
Accumulated deficit	$ (150,355,000)		$ (149,020,000)
Accounts receivable, allowance for credit loss	$ 12,000
Countries Outside of the United States \| Revenue \| Geographic Concentration Risk
Concentration Risk [Line Items]
Concentration risk (less than for geographic concentration risk)	1.00%	2.00%
Cumulative Effect, Period of Adoption, Adjustment
Concentration Risk [Line Items]
Accumulated deficit			$ 2,600