Intangible Assets - Schedule of Intangible Assets (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	$ 19,801	$ 19,568
Accumulated Amortization	(14,540)	(13,143)
Net Carrying Amount	5,261	6,425
Patents
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	1,802	1,569
Accumulated Amortization	(1,287)	(1,262)
Net Carrying Amount	515	307
Acquired intellectual property and reacquired rights
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	15,126	15,126
Accumulated Amortization	(10,538)	(9,838)
Net Carrying Amount	4,588	5,288
Internal-use software implementation costs
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	2,873	2,873
Accumulated Amortization	(2,715)	(2,043)
Net Carrying Amount	$ 158	$ 830