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Supplementary Balance Sheet Information - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Property Plant And Equipment [Line Items]    
Depreciation expense $ 0.3 $ 0.4
Amortization expense of definite-lived intangible assets $ 0.5 $ 0.5