Intangible Assets - Schedule of Intangible Assets (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	$ 19,773	$ 19,568
Accumulated Amortization	(14,090)	(13,143)
Net Carrying Amount	5,683	6,425
Patents
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	1,774	1,569
Accumulated Amortization	(1,277)	(1,262)
Net Carrying Amount	497	307
Acquired intellectual property and reacquired rights
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	15,126	15,126
Accumulated Amortization	(10,305)	(9,838)
Net Carrying Amount	4,821	5,288
Internal-use software implementation costs
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	2,873	2,873
Accumulated Amortization	(2,508)	(2,043)
Net Carrying Amount	$ 365	$ 830