Basis of Presentation and Summary of Significant Accounting Policies - Accounts Receivable and Geographic information (Details) - USD ($) $ in Thousands	3 Months Ended				9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Jan. 01, 2023	Dec. 31, 2022
Concentration Risk [Line Items]
Payment terms					30 days
Accumulated deficit	$ (152,466)				$ (152,466)			$ (149,020)
Provision for doubtful accounts receivable	$ 0			$ 1	$ 50	$ (3)
United States | Revenue | Geographic Concentration Risk
Concentration Risk [Line Items]
Concentration risk (less than for geographic concentration risk)	99.00%			99.00%	99.00%	99.00%
Cumulative Effect, Period of Adoption, Adjustment
Concentration Risk [Line Items]
Accumulated deficit							$ 2
Provision for doubtful accounts receivable	$ (14)	$ 3	$ 12