Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 4,788	$ 10,018
Capitalized research and development expenditures	13,535	9,487
Accruals and reserves	1,868	1,670
Stock based compensation	1,458	959
Intangibles	760	520
Depreciation	98	100
Capital loss carryforwards	1,838	1,915
Finance lease	3,749	3,795
Other deferred tax asset carryforward	754	162
Gross deferred tax assets	28,848	28,626
Valuation allowance	(20,453)	(21,698)
Total deferred tax assets	8,395	6,928
Deferred tax liabilities:
Depreciation	(447)	(650)
Intangibles	(1,091)	(172)
Deferred commissions	(2,883)	(2,178)
Operating lease right-of-use assets	(3,663)	(3,662)
Other	(1,150)	(277)
Total deferred tax liabilities	(9,234)	(6,939)
Net deferred tax (liabilities) assets	$ (839)	$ (11)