Revenue - Disaggregated by Type (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Disaggregation of Revenue
Revenue	$ 15,747	$ 14,707	$ 30,593	$ 29,054
Product sales
Disaggregation of Revenue
Revenue	13,406	13,223	27,183	25,894
Licensing
Disaggregation of Revenue
Revenue	1,899	771	2,817	1,346
Royalties
Disaggregation of Revenue
Revenue	236	224	329	624
Other revenue
Disaggregation of Revenue
Revenue	$ 206	$ 489	$ 264	$ 1,190

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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Reference 3: http://www.xbrl.org/2003/role/disclosureRef
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+ Details