Restatement of Previously Issued Consolidated Financial Statements - Consolidated Statement of Operations And Comprehensive Loss (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended								6 Months Ended		9 Months Ended		12 Months Ended
	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net revenue	$ 60,561	$ 52,783	$ 51,009	$ 52,036	$ 51,508	$ 46,006	$ 42,498	$ 41,371	$ 103,045	$ 83,869	$ 155,828	$ 129,875	$ 216,389	$ 181,383	$ 147,464
Cost of goods sold		11,922	11,599	10,229		8,203	7,836	6,791	21,828	14,627	33,750	22,830	51,954	32,117	28,024
Gross profit	42,357	40,861	39,410	41,807	42,221	37,803	34,662	34,580	81,217	69,242	122,078	107,045	164,435	149,266	119,440
Operating expenses:
Research and development costs		7,244	7,683	7,049		6,337	5,990	5,773	14,732	11,763	21,976	18,100	30,078	24,650	16,128
Selling, general, and administrative		44,126	43,827	43,820		39,667	37,948	37,242	87,647	75,190	131,773	114,857	180,022	159,323	114,087
Legal settlement														27,000
Total operating expenses		51,370	51,510	50,869		46,004	43,938	43,015	102,379	86,953	153,749	132,957	210,100	210,973	130,215
Operating loss	(13,994)	(10,509)	(12,100)	(9,062)	(35,795)	(8,201)	(9,276)	(8,435)	(21,162)	(17,711)	(31,671)	(25,912)	(45,665)	(61,707)	(10,775)
Other income (expense):
Other income (expense)		369	(76)	(616)		948	1,671	(706)	(692)	965	(323)	1,913	(1,183)	123	(486)
Loss on early extinguishment of debt													(5,308)
Interest expense, net		(1,119)	(803)	(1,205)		(1,093)	(1,104)	(668)	(2,008)	(1,772)	(3,127)	(2,865)	(5,165)	(4,129)	(1,719)
Total other income (expense)		(750)	(879)	(1,821)		(145)	567	(1,374)	(2,700)	(807)	(3,450)	(952)	(11,656)	(4,006)	(2,205)
Loss before income taxes		(11,259)	(12,979)	(10,883)		(8,346)	(8,709)	(9,809)	(23,862)	(18,518)	(35,121)	(26,864)	(57,321)	(65,713)	(12,980)
Income Tax Expense (Benefit)		(108)	269	(71)		201	73	32	198	105	90	306	213	(64)	713
Net loss	$ (22,323)	(11,151)	(13,248)	(10,812)	$ (38,479)	(8,547)	(8,782)	(9,841)	(24,060)	(18,623)	(35,211)	(27,170)	(57,534)	(65,649)	(13,693)
Foreign currency translation adjustment		(630)	(283)	(99)		(588)	(593)	(324)	(382)	(917)	(1,012)	(1,505)	165	(41)	(815)
Comprehensive loss		$ (11,781)	$ (13,531)	$ (10,911)		$ (9,135)	$ (9,375)	$ (10,165)	$ (24,442)	$ (19,540)	$ (36,223)	$ (28,675)	$ (57,369)	$ (65,690)	$ (14,508)
Weighted average number of shares of common stock outstanding:
Basic		82,548,892	82,373,441	80,681,715		76,850,949	76,481,709	76,447,454	81,536,607	76,465,082	81,878,814	76,595,118	82,087,329	76,766,100	52,916,711
Diluted		82,548,892	82,373,441	80,681,715		76,850,949	76,481,709	76,447,454	81,536,607	76,465,082	81,878,814	76,595,118	82,087,329	76,766,100	52,916,711
Net loss per share attributable to common stockholders:
Basic	$ (0.27)	$ (0.14)	$ (0.16)	$ (0.13)	$ (0.5)	$ (0.11)	$ (0.11)	$ (0.13)	$ (0.3)	$ (0.24)	$ (0.43)	$ (0.35)	$ (0.7)	$ (0.86)	$ (0.26)
Diluted	$ (0.27)	$ (0.14)	$ (0.16)	$ (0.13)	$ (0.5)	$ (0.11)	$ (0.11)	$ (0.13)	$ (0.3)	$ (0.24)	$ (0.43)	$ (0.35)	$ (0.7)	$ (0.86)	$ (0.26)
As Previously Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net revenue	$ 60,561	$ 52,783	$ 51,009	$ 52,036	$ 51,508	$ 46,006	$ 42,498	$ 41,371	$ 103,045	$ 83,869	$ 155,828	$ 129,875	$ 216,389	$ 181,383
Cost of goods sold		10,394	8,858	8,906		8,491	7,638	6,791	17,764	14,429	28,158	22,920	43,598	32,457
Gross profit	45,121	42,389	42,151	43,130	41,971	37,515	34,860	34,580	85,281	69,440	127,670	106,955	172,791	148,926
Operating expenses:
Research and development costs		7,244	7,683	7,049		6,337	5,990	5,773	14,732	11,763	21,976	18,100	30,078	24,650
Selling, general, and administrative		44,126	43,827	43,820		39,667	37,948	37,242	87,647	75,190	131,773	114,857	180,022	159,323
Legal settlement														27,000
Total operating expenses		51,370	51,510	50,869		46,004	43,938	43,015	102,379	86,953	153,749	132,957	210,100	210,973
Operating loss	(11,230)	(8,981)	(9,359)	(7,739)	(36,045)	(8,489)	(9,078)	(8,435)	(17,098)	(17,513)	(26,079)	(26,002)	(37,309)	(62,047)
Other income (expense):
Other income (expense)		1,660	(467)	(179)		59	652	(101)	(646)	551	1,014	610	154	(1,214)
Loss on early extinguishment of debt													(5,308)
Interest expense, net		(1,119)	(803)	(1,205)		(1,093)	(1,104)	(668)	(2,008)	(1,772)	(3,127)	(2,865)	(5,165)	(4,129)
Total other income (expense)		541	(1,270)	(1,384)		(1,034)	(452)	(769)	(2,654)	(1,221)	(2,113)	(2,255)	(10,319)	(5,343)
Loss before income taxes		(8,440)	(10,629)	(9,123)		(9,523)	(9,530)	(9,204)	(19,752)	(18,734)	(28,192)	(28,257)	(47,628)	(67,390)
Income Tax Expense (Benefit)		(108)	269	(71)		201	73	32	198	105	90	306	213	(64)
Net loss	$ (19,559)	(8,332)	(10,898)	(9,052)	$ (38,763)	(9,724)	(9,603)	(9,236)	(19,950)	(18,839)	(28,282)	(28,563)	(47,841)	(67,326)
Foreign currency translation adjustment		(630)	(283)	(99)		(588)	(593)	(324)	(382)	(917)	(1,012)	(1,505)	165	(41)
Comprehensive loss		$ (8,962)	$ (11,181)	$ (9,151)		$ (10,312)	$ (10,196)	$ (9,560)	$ (20,332)	$ (19,756)	$ (29,294)	$ (30,068)	$ (47,676)	$ (67,367)
Weighted average number of shares of common stock outstanding:
Basic		82,548,892	82,373,441	80,681,715		76,850,949	76,481,709	76,447,454	81,536,607	76,465,082	81,878,814	76,595,118	82,087,329	76,766,100
Diluted		82,548,892	82,373,441	80,681,715		76,850,949	76,481,709	76,447,454	81,536,607	76,465,082	81,878,814	76,595,118	82,087,329	76,766,100
Net loss per share attributable to common stockholders:
Basic	$ (0.24)	$ (0.1)	$ (0.13)	$ (0.11)	$ (0.5)	$ (0.13)	$ (0.13)	$ (0.12)	$ (0.24)	$ (0.25)	$ (0.35)	$ (0.37)	$ (0.58)	$ (0.88)
Diluted	$ (0.24)	$ (0.1)	$ (0.13)	$ (0.11)	$ (0.5)	$ (0.13)	$ (0.13)	$ (0.12)	$ (0.24)	$ (0.25)	$ (0.35)	$ (0.37)	$ (0.58)	$ (0.88)
Adjustments
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Cost of goods sold		$ 1,528	$ 2,741	$ 1,323		$ (288)	$ 198		$ 4,064	$ 198	$ 5,592	$ (90)	$ 8,356	$ (340)
Gross profit		(1,528)	(2,741)	(1,323)		288	(198)		(4,064)	(198)	(5,592)	90	(8,356)	340
Operating expenses:
Selling, general, and administrative									0		0		0	0
Total operating expenses									0		0		0	0
Operating loss		(1,528)	(2,741)	(1,323)		288	(198)		(4,064)	(198)	(5,592)	90	(8,356)	340
Other income (expense):
Other income (expense)		(1,291)	391	(437)		889	1,019	$ (605)	(46)	414	(1,337)	1,303	(1,337)	1,337
Total other income (expense)		(1,291)	391	(437)		889	1,019	(605)	(46)	414	(1,337)	1,303	(1,337)	1,337
Loss before income taxes		(2,819)	(2,350)	(1,760)		1,177	821	(605)	(4,110)	216	(6,929)	1,393	(9,693)	1,677
Net loss		(2,819)	(2,350)	(1,760)		1,177	821	(605)	(4,110)	216	(6,929)	1,393	(9,693)	1,677
Comprehensive loss		$ (2,819)	$ (2,350)	$ (1,760)		$ 1,177	$ 821	$ (605)	$ (4,110)	$ 216	$ (6,929)	$ 1,393	$ (9,693)	$ 1,677
Net loss per share attributable to common stockholders:
Basic		$ (0.04)	$ (0.03)	$ (0.02)		$ 0.02	$ 0.02	$ (0.01)	$ (0.06)	$ 0.01	$ (0.08)	$ 0.02	$ (0.12)	$ 0.02
Diluted		$ (0.04)	$ (0.03)	$ (0.02)		$ 0.02	$ 0.02	$ (0.01)	$ (0.06)	$ 0.01	$ (0.08)	$ 0.02	$ (0.12)	$ 0.02