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Revenues - Additional Information (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Disaggregation Of Revenue [Line Items]          
Revenue from Contract with Customer, Excluding Assessed Tax $ 13,696,000 $ 19,198,000 $ 45,970,000 $ 56,006,000  
United States          
Disaggregation Of Revenue [Line Items]          
Revenue from Contract with Customer, Excluding Assessed Tax 8,200,000 $ 11,000,000 27,600,000 $ 33,700,000  
Contract with Customer, Right to Recover Product 100,000   100,000   $ 300,000
Contract with Customer, Liability, Current $ 25,000   $ 25,000   $ 200,000