Stock-Based Compensation - Distribution of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share Based Compensation Expense [Line Items]
Stock-based compensation	$ 395	$ 368	$ 794	$ 730
Cost of Revenue
Share Based Compensation Expense [Line Items]
Stock-based compensation	27	40	57	76
Research and Development
Share Based Compensation Expense [Line Items]
Stock-based compensation	150	115	300	234
Selling, General and Administrative
Share Based Compensation Expense [Line Items]
Stock-based compensation	$ 218	$ 213	$ 437	$ 420