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Revenue Recognition - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Disaggregation of Revenue [Line Items]        
Period of recognition, performance obligations     30 days  
Period of recognition upon receipt of invoice     30 days  
Amount recognized into revenue $ 200 $ 3 $ (311) $ 300
Product Contracts        
Disaggregation of Revenue [Line Items]        
Payment terms     30 days  
Rental Contracts        
Disaggregation of Revenue [Line Items]        
Payment terms     30 days