Certain Balance Sheet Accounts - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 3,742	$ 3,760
Less accumulated depreciation and amortization	(3,458)	(3,383)
Property and equipment, net	284	377
Tooling and manufacturing equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	2,633	2,632
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment	633	639
Computer equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	335	348
Software
Property, Plant and Equipment [Line Items]
Total property and equipment	106	106
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 35	$ 35