Accrued Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022	Mar. 31, 2022	Dec. 31, 2021
Components of accrued liabilities
Accrued compensation and related charges	$ 3,039	$ 4,774
Preferred stock dividends payable	2,901	2,901
Advances from customers	1,115	338
Accrued product warranty	915	669	$ 832	$ 743
Other tax payable	774	867
Payable in connection with construction in progress	753	4,135
Accrued professional services	663	930
Accrued income taxes	447	729
Current portion of operating lease liabilities	412	485
Other personnel-related costs	291	291
Accrual for sales returns	119	112
Other accrued liabilities	1,772	1,933
Accrued liabilities, Total	$ 13,201	$ 18,164