Property and Equipment, Net - Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 10,957	$ 10,918
Less: accumulated depreciation and amortization	(8,884)	(8,678)
Property and equipment, net	2,073	2,240
Machinery and Equipment [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	6,920	6,912
Computer, Software and Related Equipment [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	1,877	1,858
Leasehold Improvements And Office Equipment [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 2,160	$ 2,148