Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 67,214	$ 61,640
Accrued expenses and reserves	1,952	1,245
Stock-based compensation	4,079	4,130
Inventory	2,338	2,214
Other intangibles	487	49
Deferred revenue	17	0
Operating lease liabilities	1,382	1,441
Other deferred tax assets	553	456
Total gross deferred tax assets	78,022	71,175
Less valuation allowance	(69,357)	(61,328)
Total deferred tax assets	8,665	9,847
Deferred tax liabilities:
Other intangibles	(5,623)	(6,933)
Fixed assets	(1,722)	(2,088)
Operating lease right-of-use assets	(1,285)	(1,343)
Other deferred tax liabilities	(70)	(112)
Total deferred tax liabilities	(8,700)	(10,476)
Net deferred tax liabilities	$ (35)	$ (629)