Intangible Assets, Net and Other non-current assets - Schedule of Finite Lived Intangible Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Intangible assets, gross	$ 4,367	$ 2,867
Less: accumulated amortization	(2,932)	(2,816)
Intangible assets, net	1,435	51
Royalty receivable	5,000	6,000
Other	1,451	903
Total other non-current assets	6,451	6,903
Purchased intangible
Finite-Lived Intangible Assets [Line Items]
Intangible assets, gross	3,858	2,358
Purchased patent
Finite-Lived Intangible Assets [Line Items]
Intangible assets, gross	$ 509	$ 509