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Revenue Recognition - Schedule of Revenue by Contract Type (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Disaggregation of Revenue [Line Items]        
Total revenue $ 6,381 $ 3,015 $ 13,870 $ 11,945
License and Service Contracts        
Disaggregation of Revenue [Line Items]        
Total revenue 4,391 814 7,535 5,459
Operating Segments        
Disaggregation of Revenue [Line Items]        
Total revenue 6,381 3,015 13,870 11,945
Operating Segments | License and Service Contracts        
Disaggregation of Revenue [Line Items]        
Total revenue 5,982 2,571 11,586 9,787
Operating Segments | Subscription-based Contracts        
Disaggregation of Revenue [Line Items]        
Total revenue $ 399 $ 444 $ 2,284 $ 2,158