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Property and Equipment - Summary of Components of Property and Equipment (Details) - USD ($)
$ in Thousands
Jun. 30, 2022
Dec. 31, 2021
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 86,698 $ 88,965
Less: Accumulated depreciation and amortization (65,463) (65,457)
Property and equipment, net 21,235 23,508
Computers and Purchased Software    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 25,505 25,775
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 4,267 4,198
Furniture and Fixtures    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 2,683 2,672
Machinery and Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 35,914 37,325
Land    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 3,091 3,091
Building    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 4,765 4,765
Building Improvements    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 7,324 7,291
Trial Systems at Customers' Sites    
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 3,149 $ 3,848