Stockholders Deficit - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 498	$ 764
Cost of goods sold
Stock-Based Compensation Expense
Total stock-based compensation expense	29	44
Research and development
Stock-Based Compensation Expense
Total stock-based compensation expense	87	103
Selling and marketing
Stock-Based Compensation Expense
Total stock-based compensation expense	31	40
General and administrative
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 351	$ 577