Property and Equipment - Schedule of property and equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Total property and equipment	$ 30,036	$ 27,562
Less: Accumulated depreciation and amortization	(19,898)	(16,345)
Property, Plant and Equipment, Net	10,138	11,217
Machinery and Equipment [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	12,799	12,421
Leasehold Improvements [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	11,206	10,334
Construction in Progress [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	1,331	1,118
Computer hardware and software [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	1,693	1,536
Production molds [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	1,873	1,268
Furniture and Fixtures [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	928	853
Right-of-use equipment [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	$ 206	$ 32