Property and Equipment, Net - Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 11,408	$ 11,204
Less: accumulated depreciation and amortization	(9,661)	(9,496)
Property and equipment, net	1,747	1,708
Machinery and Equipment [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	7,122	7,256
Computer, Software and Related Equipment [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	1,964	1,960
Leasehold Improvements And Office Equipment [Member]
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 2,322	$ 1,988