Stock-Based Compensation - Compensation Costs (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	$ 715	$ 912	$ 1,524	$ 1,827
Cost of revenue
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	68	103	173	208
Selling, general and administrative
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	526	655	1,079	1,287
Research and development
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	$ 121	$ 154	$ 272	$ 332