Basis of Presentation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 3,634	$ 2,867
Total cost of sales
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	272	199
Total operating expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	3,362	2,668
Selling, general and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	2,568	2,221
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	794	447
Product
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	240	160
Service
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 32	$ 39