Leases - Schedule of Components of Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Lessee Lease Description [Line Items]
Finance lease cost	$ 4	$ 1	$ 7	$ 3
Cost of Goods Sold
Lessee Lease Description [Line Items]
Operating lease cost	3	3	7	7
Research and Development
Lessee Lease Description [Line Items]
Operating lease cost	85	79	159	158
Finance lease cost	32		46
Selling, General and Administrative
Lessee Lease Description [Line Items]
Operating lease cost	429	402	833	803
Finance lease cost	$ 4	$ 7	$ 9	$ 14