Quarterly report pursuant to Section 13 or 15(d)

Revenue Recognition - Narrative (Details)

v3.23.3
Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
 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]          
Contract assets current $ 600   $ 600   $ 300
Refund liability         $ 500
Total revenue $ 5,762 $ 5,146 $ 17,145 $ 15,377  
Minimum          
Disaggregation of Revenue [Line Items]          
Contract liabilities, service agreements, terms 1 year   1 year    
Maximum          
Disaggregation of Revenue [Line Items]          
Contract liabilities, service agreements, terms 3 years   3 years    
Capital Equipment Related Service Revenue          
Disaggregation of Revenue [Line Items]          
Total revenue $ 200   $ 1,000    
Capital Equipment and Software-Related Service          
Disaggregation of Revenue [Line Items]          
Revenue, remaining performance obligation amount $ 1,700   $ 1,700    
Capital Equipment and Software-Related Service | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01          
Disaggregation of Revenue [Line Items]          
Revenue, remaining performance obligation, percentage 69.00%   69.00%    
Revenue, remaining performance obligation, period 12 months   12 months    
Capital Equipment and Software-Related Service | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-10-01          
Disaggregation of Revenue [Line Items]          
Revenue, remaining performance obligation, period