Stockholders' Equity -Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Class Of Stock [Line Items]
Stock-based compensation expense	$ 1,274	$ 1,523
Cost of Goods Sold
Class Of Stock [Line Items]
Stock-based compensation expense	43	69
Sales and Marketing
Class Of Stock [Line Items]
Stock-based compensation expense	645	591
Research and Development
Class Of Stock [Line Items]
Stock-based compensation expense	8	14
General and Administrative
Class Of Stock [Line Items]
Stock-based compensation expense	578	849
Stock Options
Class Of Stock [Line Items]
Stock-based compensation expense	825	1,026
Restricted Stock Units
Class Of Stock [Line Items]
Stock-based compensation expense	425	$ 497
ESPP
Class Of Stock [Line Items]
Stock-based compensation expense	$ 24