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Basis of Presentation and Summary of Significant Accounting Policies - Accounts Receivable and Geographic information (Details) - USD ($) | 3 Months Ended |
--- | --- | ---
Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2022
Concentration Risk [Line Items] |  |  |
Contract with customer, payment terms | 30 days |  |
Accumulated deficit | $ (150,355,000) |  | $ (149,020,000)
Accounts receivable, allowance for credit loss | $ 12,000 |  |
Countries Outside of the United States | Revenue | Geographic Concentration Risk |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk (less than for geographic concentration risk) | 1.00% | 2.00% |
Cumulative Effect, Period of Adoption, Adjustment |  |  |
Concentration Risk [Line Items] |  |  |
Accumulated deficit |  |  | $ 2,600

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