Balance Sheet Components - Property and Equipment Net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Property and Equipment, Net
Total property and equipment, gross	$ 16,428	$ 19,814
Less: accumulated depreciation	(12,711)	(15,931)
Total property and equipment, net	3,717	3,883
Depreciation and amortization expense	1,200	1,000
Manufacturing equipment
Property and Equipment, Net
Total property and equipment, gross	13,494	16,130
Computer and network equipment
Property and Equipment, Net
Total property and equipment, gross	520	1,124
Furniture and fixtures
Property and Equipment, Net
Total property and equipment, gross	113	187
Software
Property and Equipment, Net
Total property and equipment, gross	825	929
Leasehold improvements
Property and Equipment, Net
Total property and equipment, gross	$ 1,476	$ 1,444