Leases - Lease cost classification (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Finance lease cost:
Interest on lease liabilities	$ 20	$ 6
Operating lease cost:
Total lease cost	1,033	855
Cost of service and other revenue
Finance lease cost:
Amortization of right-of-use assets	71
Depreciation and amortization
Finance lease cost:
Amortization of right-of-use assets	130	139
Cost of product revenue
Operating lease cost:
Rent expense	28
Selling, general and administrative
Operating lease cost:
Rent expense	$ 784	$ 710