Leases - Lease cost classification (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Finance lease cost:
Interest on lease liabilities	$ 31	$ 44	$ 65	$ 64
Operating lease cost:
Rent expense			1,398	1,533
Total lease cost	788	1,069	1,770	2,102
Cost of service and other revenue
Finance lease cost:
Amortization of right-of-use assets	79	89	168	160
Cost of product revenue
Operating lease cost:
Rent expense	26	28	54	56
Selling, general and administrative
Finance lease cost:
Amortization of right-of-use assets	30	58	71	104
Operating lease cost:
Rent expense	537	783	1,243	1,567
Research and development
Finance lease cost:
Amortization of right-of-use assets	$ 85	$ 67	$ 169	$ 151