Basis of Presentation (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	$ 1,164	$ 4,950	$ 5,703	$ 8,584
Total cost of sales
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	374	420	704	692
Total operating expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	790	4,530	4,999	7,892
Selling, general and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	196	3,554	4,138	6,122
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	594	976	861	1,770
Product
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	298	364	574	604
Service
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	$ 76	$ 56	$ 130	$ 88