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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