Stock-Based Compensation - Distribution of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Expense [Line Items]
Stock-based compensation	$ 1,552	$ 1,813
Cost of Revenue
Share Based Compensation Expense [Line Items]
Stock-based compensation	142	147
Research and Development
Share Based Compensation Expense [Line Items]
Stock-based compensation	559	581
Selling, General and Administrative
Share Based Compensation Expense [Line Items]
Stock-based compensation	$ 851	$ 1,085