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Summary of Significant Accounting Policies - Summary of Revenue by Product Group (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Disaggregation of Revenue [Line Items] |  |
Total revenue | $ 16,008 | $ 16,854
License and Service Contracts |  |
Disaggregation of Revenue [Line Items] |  |
Total revenue | 7,386 | 7,973
Operating Segments |  |
Disaggregation of Revenue [Line Items] |  |
Total revenue | 16,008 | 16,854
Operating Segments | License and Service Contracts |  |
Disaggregation of Revenue [Line Items] |  |
Total revenue | 12,937 | 14,164
Operating Segments | Subscription-based Contracts |  |
Disaggregation of Revenue [Line Items] |  |
Total revenue | $ 3,071 | $ 2,690

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