Revenue - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Jun. 30, 2023	Dec. 31, 2022	Jun. 30, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Typical payment receipt, period post shipment			30 days
Training provided with sale of system, period			90 days
Deferred revenue	$ 13,108	$ 12,401	$ 13,108	$ 12,401	$ 14,007	$ 13,498	$ 11,527	$ 10,825
Minimum
Disaggregation of Revenue [Line Items]
Extended service contract term			1 year
Capitalized costs, expected period of benefit	2 years		2 years
Maximum
Disaggregation of Revenue [Line Items]
Extended service contract term			3 years
Capitalized costs, expected period of benefit	3 years		3 years
Sales and marketing
Disaggregation of Revenue [Line Items]
Amortization expense	$ 600	$ 600	$ 1,900	$ 1,800
Other Assets
Disaggregation of Revenue [Line Items]
Capitalized contract costs	2,800		$ 2,800			3,800
Service | Minimum
Disaggregation of Revenue [Line Items]
Extended service contract term			1 year
Service | Maximum
Disaggregation of Revenue [Line Items]
Extended service contract term			3 years
Loyalty
Disaggregation of Revenue [Line Items]
Deferred revenue	$ 300		$ 300			$ 300
Skincare | Japan
Disaggregation of Revenue [Line Items]
Sale of third-party product, warranty period			90 days
Transferred over Time | Service
Disaggregation of Revenue [Line Items]
Revenue from performance obligations transferred to customers, percent	13.00%	8.00%	10.00%	7.00%