Balance Sheet Components (Accrued Liabilities) (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Balance Sheet Components [Abstract]
Accrued payroll and related expenses	$ 8,711	$ 15,216
Operating lease liability	1,874	1,844
Accrued royalty expense	951	973
Accrued professional services	718	781
Accrued travel expenses	728	775
Provision for sales returns	618	540
Accrued interest payable	519	519
Deferred revenue	209	253
Accrued clinical expenses	334	249
Accrued other expenses	936	815
Total	$ 15,598	$ 21,965