Property and Equipment - Summary of Components of Property and Equipment (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 72,276	$ 84,583
Less: Accumulated depreciation and amortization	(54,675)	(65,065)
Property and equipment, net	17,601	19,518
Computers and Purchased Software
Property Plant And Equipment [Line Items]
Property and equipment, gross	23,660	25,572
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property and equipment, gross	4,197	4,226
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Property and equipment, gross	2,381	2,471
Machinery and Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	24,834	34,502
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	7,391	7,374
Trial Systems at Customers' Sites
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 1,957	$ 2,582

Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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