Balance Sheet Detail - Schedule of Property, Plant and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, plant and equipment, net:
Property, plant and equipment, gross	$ 23,632	$ 30,622
Less: accumulated depreciation and amortization	(17,881)	(21,062)
Less: government grants	(28)	(82)
Total property, plant and equipment, net	5,723	9,478
Machinery and equipment
Property, plant and equipment, net:
Property, plant and equipment, gross	13,769	17,214
Leasehold improvements
Property, plant and equipment, net:
Property, plant and equipment, gross	2,426	5,683
Computers and software
Property, plant and equipment, net:
Property, plant and equipment, gross	4,786	4,713
Furniture and fixtures
Property, plant and equipment, net:
Property, plant and equipment, gross	2,117	1,748
Construction in progress and other
Property, plant and equipment, net:
Property, plant and equipment, gross	$ 534	$ 1,264