Stock-Based Compensation - Distribution of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Share Based Compensation Expense [Line Items]
Stock-based compensation	$ 399	$ 362
Cost of Revenue
Share Based Compensation Expense [Line Items]
Stock-based compensation	30	36
Research and Development
Share Based Compensation Expense [Line Items]
Stock-based compensation	150	119
Selling, General and Administrative
Share Based Compensation Expense [Line Items]
Stock-based compensation	$ 219	$ 207