Stockholders' Equity - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 536	$ 887	$ 1,969	$ 2,472
Cost of goods sold
Stock-Based Compensation Expense
Total stock-based compensation expense	29	84	104	219
Research and development
Stock-Based Compensation Expense
Total stock-based compensation expense	90	134	284	362
Selling and marketing
Stock-Based Compensation Expense
Total stock-based compensation expense	40	31	120	109
General and administrative
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 377	$ 638	$ 1,461	$ 1,782