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Other Financial Statement Information - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Concentration Risk [Line Items]          
Gross realized loss $ 0 $ 0 $ 1,700 $ 0  
Gross realized gains 0 $ 0 0 $ 0  
Transaction price allocated to remaining performance obligations 13,900   13,900    
Deferred revenue 9,217   9,217   $ 7,867
Deferred revenue recognized 13,900   13,900   $ 11,000
Products and Services, Excluding Grant Revenue          
Concentration Risk [Line Items]          
Deferred revenue $ 9,200   $ 9,200