Stockholders Deficit - Stock-Based Compensation Expense (Details) - Common stock options - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 482	$ 669	$ 979	$ 1,433
Cost of goods sold
Stock-Based Compensation Expense
Total stock-based compensation expense	28	31	57	75
Research and development
Stock-Based Compensation Expense
Total stock-based compensation expense	81	91	168	194
Selling and marketing
Stock-Based Compensation Expense
Total stock-based compensation expense	32	40	62	80
General and administrative
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 341	$ 507	$ 692	$ 1,084