Summary of Significant Accounting Policies - Narrative (Details)	1 Months Ended	3 Months Ended								12 Months Ended
	Mar. 31, 2023 patent	Dec. 31, 2023 USD ($) country	Sep. 30, 2023 USD ($)	Jun. 30, 2023 USD ($)	Mar. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Sep. 30, 2022 USD ($)	Jun. 30, 2022 USD ($)	Mar. 31, 2022 USD ($)	Dec. 31, 2023 USD ($) country segment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Number of countries in which entity operates | country		37								37
Net income (loss)		$ (57,233,000)	$ (44,274,000)	$ (33,278,000)	$ (28,048,000)	$ (7,788,000)	$ (12,134,000)	$ (47,276,000)	$ (15,142,000)	$ (162,833,000)	$ (82,340,000)	$ 2,062,000	$ (23,900,000)
Training on use of system term (in days)										90 days
Total net revenue		49,540,000	$ 46,478,000	$ 61,825,000	$ 54,526,000	67,353,000	$ 62,808,000	$ 64,224,000	$ 58,014,000	$ 212,369,000	252,399,000	231,270,000
Number of patents allegedly infringed | patent	6
Estimated economic life of demonstration units (in years)										2 years
Demonstration inventories included in finished goods		5,800,000				5,700,000				$ 5,800,000	5,700,000
Depreciation expense										8,100,000	2,200,000	1,300,000
Capitalized computing amortization expense										400,000	400,000	0
Goodwill impairment										$ 0
Warranty term, direct sales										12 months
Warranty term, distributor sales (in months)										14 months
Advertising expense										$ 4,500,000	4,900,000	2,100,000
Foreign currency transaction gains (losses)										$ 300,000	(3,600,000)	(1,800,000)
Number of operating segments | segment										1
Number of reporting units | segment										1
Deferred Sales Commissions
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Total capitalized costs		1,000,000.0				2,000,000.0				$ 1,000,000.0	2,000,000.0
Other current assets and prepaid expenses
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Capitalized computing set-up costs		400,000				400,000				400,000	400,000
Other long-term assets
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Total capitalized costs		2,400,000				3,800,000				2,400,000	3,800,000
Capitalized computing set-up costs		$ 3,100,000				3,500,000				$ 3,100,000	3,500,000
Minimum
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Capitalized costs, amortization period (in years)		2 years								2 years
Maximum
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Capitalized costs, amortization period (in years)		3 years								3 years
Capitalized Cloud Computing Set-up Cost
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Amortization of capitalized contract costs										$ 3,800,000
Capitalized Cloud Computing Set-up Cost | Other long-term assets
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Total capitalized costs		$ 2,700,000				$ 3,300,000				$ 2,700,000	3,300,000
Capitalized Cloud Computing Set-up Cost | Minimum
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Cloud computing arrangement expected contract renewals (in years)		3 years								3 years
Capitalized Cloud Computing Set-up Cost | Maximum
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Cloud computing arrangement expected contract renewals (in years)		10 years								10 years
United States
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Total net revenue										$ 88,378,000	$ 107,453,000	$ 96,629,000
Customer Concentration Risk | Revenue Benchmark | ZO Skin Health
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Concentration risk (as a percent)										16.00%	17.00%	21.00%
Customer Concentration Risk | Revenue Benchmark | Ilooda Co. Ltd.
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Concentration risk (as a percent)										4.00%	6.00%	5.00%
Customer Concentration Risk | Revenue Benchmark | United States
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Concentration risk (as a percent)										42.00%	43.00%	42.00%
Customer Concentration Risk | Revenue Benchmark | Non-US
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Concentration risk (as a percent)										58.00%	57.00%	58.00%
Supplier Concentration Risk | Revenue from Contract with Customer, Product and Service Benchmark | Largest Supplier
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Concentration risk (as a percent)										7.00%	10.00%	14.00%
Sales and marketing
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Amortization of capitalized contract costs										$ 2,400,000	$ 2,400,000	$ 1,900,000
Sales and marketing | Capitalized Cloud Computing Set-up Cost
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Amortization of capitalized contract costs										$ 4,300,000	500,000
Service
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Extended service contract, option one, term (in years)										1 year
Extended service contract, option three, term (in years)										3 years
Total net revenue										$ 22,556,000	23,603,000	25,567,000
Skincare
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Total net revenue										33,983,000	42,500,000	49,669,000
Secret Products
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Total net revenue										$ 9,200,000	$ 14,800,000	$ 12,300,000
Transferred over Time
Organization, Consolidation And Presentation Of Financial Statements [Line Items]
Percent of total revenues										11.00%	8.00%	11.00%