Income Taxes - Deferred tax assets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 27,110	$ 30,658
Inventory	273	278
Accruals	737	801
Depreciation and amortization	27	240
Research and experimental expenditures	2,229
Stock-based compensation	270	177
Right of use liability	1,477	206
Gross deferred tax assets	32,123	32,360
Valuation allowance	(30,328)	(32,047)
Deferred tax assets	1,795	313
Deferred tax liabilities:
Right of use asset	(1,463)	(209)
Other	(332)	(104)
Deferred tax liabilities	(1,795)	$ (313)
(Decrease) increase in valuation allowance	$ (1,700)