Equity Incentive Plans - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Equity Incentive Plans
Total stock-based compensation expense	$ 3,338	$ 2,818	$ 1,762
Assumptions used to compute employee stock based compensation under the Black-Scholes option pricing model
Expected volatility (as a percent)			65.00%
Expected dividend yield (as a percent)	0.00%	0.00%	0.00%
Expected life (in years)	6 years 3 months	6 years 3 months	6 years 3 months
Minimum
Assumptions used to compute employee stock based compensation under the Black-Scholes option pricing model
Risk-free interest rate (as a percent)	0.66%	0.40%	1.74%
Expected volatility (as a percent)	105.00%	65.00%
Maximum
Assumptions used to compute employee stock based compensation under the Black-Scholes option pricing model
Risk-free interest rate (as a percent)	1.51%	1.68%	2.61%
Expected volatility (as a percent)	106.00%	106.00%
Common stock options
Equity Incentive Plans
Total stock-based compensation expense	$ 3,338	$ 2,818	$ 1,762
Unrecorded deferred stock-based compensation
Unrecorded deferred stock-based compensation balance related to stock options	$ 6,400
Weighted-average amortization period over which cost is expected to be recognized	2 years 6 months
Weighted average grant date fair value of options granted (in dollars per share)	$ 2.63
Common stock options \| Cost of goods sold
Equity Incentive Plans
Total stock-based compensation expense	$ 271	14
Common stock options \| Research and development
Equity Incentive Plans
Total stock-based compensation expense	490	651	522
Common stock options \| Selling and marketing
Equity Incentive Plans
Total stock-based compensation expense	148	108
Common stock options \| General and administrative
Equity Incentive Plans
Total stock-based compensation expense	2,429	$ 2,045	$ 1,240
Restricted Stock Units
Unrecorded deferred stock-based compensation
Unrecorded deferred stock-based compensation balance related to stock options	$ 250,000,000
Weighted-average amortization period over which cost is expected to be recognized	1 year

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Amount of noncash expense for share-based payment arrangement.

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The risk-free interest rate assumption that is used in valuing an option on its own shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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