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Intangible Assets, Net (Tables)
 12 Months Ended
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]  
Schedule of finite-lived intangible assets
Intangible assets consist of the following:
December 31, 2022December 31, 2021
(in thousands)Gross Carrying AmountAccumulated AmortizationNet Carrying AmountGross Carrying AmountAccumulated AmortizationNet Carrying Amount
Amortizable intangible assets:
Patents$3,792 $(621)$3,170 $2,469 $(234)$2,235 
License agreements1,101 (1,014)87 1,101 (852)249 
Total amortizable intangible assets4,893 (1,635)3,258 3,570 (1,086)2,484 
Unamortized intangible assets:
Trademarks391 — 391 375 — 375 
Total intangible assets$5,284 $(1,635)$3,649 $3,945 $(1,086)$2,859 
Schedule of indefinite-lived intangible assets
Intangible assets consist of the following:
December 31, 2022December 31, 2021
(in thousands)Gross Carrying AmountAccumulated AmortizationNet Carrying AmountGross Carrying AmountAccumulated AmortizationNet Carrying Amount
Amortizable intangible assets:
Patents$3,792 $(621)$3,170 $2,469 $(234)$2,235 
License agreements1,101 (1,014)87 1,101 (852)249 
Total amortizable intangible assets4,893 (1,635)3,258 3,570 (1,086)2,484 
Unamortized intangible assets:
Trademarks391 — 391 375 — 375 
Total intangible assets$5,284 $(1,635)$3,649 $3,945 $(1,086)$2,859 
Schedule of amortization expense
The amortization expense is as follows for the years ended:
December 31,
202220212020
Amortization expense$265 202 153 
Schedule of future amortization
As of December 31, 2022, future amortization of patents and license agreements are as follows:
Year Ending December 31,(in thousands)
2023$250 
2024181 
2025181 
2026180 
2027176 
Thereafter2,290 
Total$3,258 
Schedule of royalty expenses
Royalty fees included in sales and marketing on the consolidated statement of operations are as follows for the years ended:
December 31,
202220212020
Royalty fees $3,103 $2,715 $2,289