Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 53,309	$ 67,214
Research and other credits	3,779	0
Capitalized research and development	15,106	0
Accrued expenses and reserves	2,164	1,952
Stock-based compensation	3,572	4,079
Inventory	1,890	2,338
Other intangible assets	350	487
Deferred revenue	124	17
Operating lease liabilities	2,615	1,382
Other deferred tax assets	87	553
Total gross deferred tax assets	82,996	78,022
Less valuation allowance	(70,506)	(69,357)
Total deferred tax assets	12,490	8,665
Deferred tax liabilities:
Other intangible assets	(4,777)	(5,623)
Fixed assets	(1,532)	(1,722)
Prepaid expenses	(1,825)	0
Operating lease right-of-use assets	(2,519)	(1,285)
Other deferred tax liabilities	(1,859)	(70)
Total deferred tax liabilities	(12,512)	(8,700)
Net deferred tax liabilities	$ (22)	$ (35)