Revenue - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Disaggregation of Revenue [Line Items]
Typical payment receipt, period post shipment			30 days
Total net revenue	$ 34,377	$ 61,825	$ 73,170	$ 116,351
Training provided with sale of system, period			90 days
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
Japan
Disaggregation of Revenue [Line Items]
Total net revenue	$ 3,829	12,810	$ 11,427	25,718
Sales and marketing
Disaggregation of Revenue [Line Items]
Amortization expense	400	600	1,000	1,300
Other Assets
Disaggregation of Revenue [Line Items]
Capitalized contract costs	1,900		1,900		$ 2,400
Service
Disaggregation of Revenue [Line Items]
Total net revenue	6,020	5,650	$ 11,698	11,055
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
Skincare
Disaggregation of Revenue [Line Items]
Total net revenue	$ 0	$ 9,422	$ 4,200	$ 17,554
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	14.00%	9.00%	13.00%	9.00%