Property and Equipment - Schedule of property and equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property Plant And Equipment [Line Items]
Total property and equipment	$ 33,539	$ 30,036
Less: Accumulated depreciation and amortization	(22,698)	(19,898)
Property, Plant and Equipment, Net	10,841	10,138
Machinery and Equipment [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	14,638	12,799
Leasehold Improvements [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	11,553	11,206
Construction in Progress [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	2,335	1,331
Computer Hardware and Software [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	1,824	1,693
Production Molds [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	2,005	1,873
Furniture and Fixtures [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	1,028	928
Right-Of-Use Equipment [Member]
Property Plant And Equipment [Line Items]
Total property and equipment	$ 156	$ 206