Income Taxes - components of Long Term Deferred Income Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
State net operating loss carryforwards	$ 96	$ 291
Foreign net operating loss carryforwards	182	276
Federal tax credit carryforwards	1,999
State tax credit carryforwards	9,560	8,683
Property, plant and equipment	6,979	8,755
Operating lease liability	5,564	1,564
Accrued compensation	242	276
Inventories	804	1,613
Stock compensation	1,790	1,620
Warranty	3,108	1,993
Deferred revenue	6,389	4,501
Capitalized research and development costs	38,036	18,067
Gross deferred tax assets	74,749	47,639
Valuation allowance	(10,963)	(8,370)
Net deferred tax assets	63,786	39,269
Deferred tax liabilities:
Intangible assets		(176)
Right-of-use asset	(9,155)	(5,400)
Other	(1,203)	(1,992)
Gross deferred tax liabilities	(10,358)	(7,568)
Deferred taxes, net	$ 53,428	$ 31,701