Income Taxes - Components of Net Deferred Income Tax Asset and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Net deferred income tax asset - Non-current
Warranty cost	$ 381	$ 301
Inventory reserve	1,676	2,255
Unearned service revenue	8,294	8,930
Employee stock options	5,102	3,772
Tax credits	6,133	4,296
Loss carryforwards	20,965	19,197
Depreciation	773	729
Intangibles & goodwill	13,996	12,461
Lease liability	3,419	3,690
Total deferred tax assets	60,739	55,631
Valuation allowance	(46,515)	(37,295)
Total deferred tax assets net of valuation allowance	14,224	18,336
Net deferred income tax liability - Non-current
Other, net	(150)	(2,420)
Operating lease right-of-use asset	(2,433)	(3,441)
Total deferred tax liabilities	(2,583)	(5,861)
Net deferred tax assets	$ 11,641	$ 12,475