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Balance Sheet Components
 12 Months Ended
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]  
Balance Sheet Components Balance Sheet Components
Property and Equipment, Net
Property and equipment consisted of the following (in thousands):
December 31,
20222021
Prototype$17,641 $17,730 
Machine and equipment19,068 17,701 
Leasehold improvements15,365 14,088 
Furniture and fixtures1,511 1,295 
Software1,389 1,389 
Construction in progress2,417 1,397 
Property and equipment, gross57,391 53,600 
Less: accumulated depreciation and amortization(37,750)(33,358)
Property and equipment, net$19,641 $20,242 
Depreciation and amortization expense related to property and equipment was $4.9 million, $6.0 million and $6.4 million during the years ended December 31, 2022, 2021 and 2020, respectively.
Accrued Liabilities
Accrued liabilities consisted of the following (in thousands):
December 31,
20222021
Accrued payroll and related benefits$15,542 $17,080 
Accrued accounts payable$5,606 $3,740 
Payroll withholding tax, sales and other tax payable$1,660 $1,094 
Accrued legal and accounting$241 $230 
Product upgrade reserve$900 $2,500 
Other$733 $1,911 
Total accrued liabilities$24,682 $26,555 
Deferred Revenue
Deferred revenue consisted of the following (in thousands):
December 31,
20222021
Deferred revenue:  
Product$8,814 $1,322 
Services18,057 15,385 
Distribution rights932 1,445 
Total deferred revenue27,803 18,152 
Less: current portion of deferred revenue(24,734)(13,920)
Noncurrent portion of deferred revenue$3,069 $4,232 
Other Long-Term Liabilities
Other long-term liabilities consisted of the following (in thousands):
December 31,
20222021
Accrued interest, noncurrent portion$96 $704 
Asset retirement obligation1,057 962 
Other accrued costs629 981 
Total other-long term liabilities$1,782 $2,647