Revenue Recognition - Revenue Recognition Table (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 16,378	$ 17,924
Product revenue
Disaggregation of Revenue [Line Items]
Total revenue	16,151	17,429
Service revenue
Disaggregation of Revenue [Line Items]
Total revenue	$ 227	$ 495