Quarterly report pursuant to Section 13 or 15(d)

Revenue Recognition - Narrative (Details)

v3.23.2
Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Disaggregation of Revenue [Line Items]          
Deferred contract costs         $ 300
Refund liability         $ 500
Total revenue $ 5,950 $ 5,200 $ 11,383 $ 10,231  
Revenue, remaining performance obligation amount $ 900   $ 900    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01          
Disaggregation of Revenue [Line Items]          
Revenue, remaining performance obligation, period 12 months   12 months    
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 $ 500   $ 800