Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Debt Disclosure [Abstract]
Marketing reimbursement	$ 2,031	$ 2,834
Accrued compensation	2,752	1,687
Accrued clinical trials and R&D	4,549	3,694
Accrued selling and marketing	845	1,110
Accrued professional fees	1,152	1,505
Accrued warranty	21	44
Accrued restructuring	8	655
Other accrued expenses	3,148	3,966
Total accrued expenses and other current liabilities	$ 14,506	$ 15,495