Stock-Based Compensation - Summary of Share-Based Compensation Expense in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total non-cash compensation expense related to share-based compensation included in operating expense	$ 140	$ 167	$ 210	$ 658
Cost of goods sold
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total non-cash compensation expense related to share-based compensation included in operating expense	25	12	45	35
Selling, general and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total non-cash compensation expense related to share-based compensation included in operating expense	110	151	158	615
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total non-cash compensation expense related to share-based compensation included in operating expense	$ 5	$ 4	$ 7	$ 8