Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 22,873	$ 20,755
Tax credit carryforwards	4,702	5,757
Fixed assets and intangible assets	2,815	4,043
Inventory and other reserves	8,295	11,673
Operating lease liability	3,889	3,958
Capitalized research and experimental expenditures	6,182
Other	8,568	3,600
Gross deferred tax assets	57,324	49,786
Less valuation allowance	(53,401)	(46,027)
Net deferred tax assets	3,923	3,759
Deferred tax liabilities:
Fixed assets and intangible assets	(771)	(856)
Operating lease right-of-use-asset	(2,907)	(2,903)
Other assets	(245)
Gross deferred tax liabilities	(3,923)	(3,759)
Total net deferred tax assets	$ 0	$ 0