Balance Sheet Components (Accrued Liabilities) (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Balance Sheet Components [Abstract]
Accrued payroll and related expenses	$ 12,890	$ 15,216
Operating lease liability	1,700	1,844
Accrued royalty expense	1,034	973
Accrued professional services	221	781
Accrued travel expenses	814	775
Provision for sales returns	534	540
Accrued interest payable	502	519
Deferred revenue	120	253
Accrued clinical expenses	341	249
Accrued other expenses	772	815
Total	$ 18,928	$ 21,965