Stock-Based Compensation - Compensation Costs (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	$ 820	$ 891	$ 2,344	$ 2,718
Cost of revenue
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	73	102	246	310
Selling, general and administrative
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	623	639	1,702	1,926
Research and development
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Net effect on net loss	$ 124	$ 150	$ 396	$ 482