Stockholders' Deficit - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 284	$ 482	$ 618	$ 979
Cost of product revenues
Stock-Based Compensation Expense
Total stock-based compensation expense	17	28	36	57
Research and development
Stock-Based Compensation Expense
Total stock-based compensation expense	63	81	137	168
Selling and marketing
Stock-Based Compensation Expense
Total stock-based compensation expense	8	32	20	62
General and administrative
Stock-Based Compensation Expense
Total stock-based compensation expense	$ 196	$ 341	$ 425	$ 692