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Basis of Presentation and Summary of Significant Accounting Policies - Additional Information (Details) ¥ in Millions | 3 Months Ended | 6 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jun. 30, 2024 USD ($) segment | Jun. 30, 2023 USD ($) | Jun. 30, 2024 USD ($) | Jun. 30, 2023 USD ($) | Jun. 30, 2024 CNY (¥) | Jan. 16, 2024 USD ($) | Jan. 16, 2024 CNY (¥) | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) | Aug. 26, 2022 USD ($)
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Number of operating segments | segment | 1 |  |  |  |  |  |  |  |  |
Number of reportable segments | segment | 1 |  |  |  |  |  |  |  |  |
Cash, cash equivalents, restricted cash, and restricted cash equivalents | $ 177,918,000 | $ 131,544,000 | $ 177,918,000 | $ 131,544,000 |  |  |  | $ 167,630,000 | $ 299,500,000 |
Cash, FDIC insured amount | 250,000 |  | 250,000 |  |  |  |  |  |  |
Restricted cash | 30,000 |  | $ 30,000 |  |  |  |  | 331,000 |  |
Restricted cash equivalents |  | 300,000 |  | 300,000 |  |  |  |  |  |
Upfront and payment terms |  |  | 30 days |  |  |  |  |  |  |
Total revenue, net | $ 46,617,000 | 49,693,000 | $ 91,477,000 | 86,781,000 |  |  |  |  |  |
Product warranty obligation, term | 1 year |  | 1 year |  | 1 year |  |  |  |  |
Common stock, value, issued | $ 132,000 |  | $ 132,000 |  |  |  |  | $ 131,000 |  |
Advertising, marketing and media expenses | 1,300,000 | 1,300,000 | 2,200,000 | $ 2,100,000 |  |  |  |  |  |
Building | Revolving Credit Facility | Line of Credit |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Debt instrument, collateral amount | 2,800,000 |  | 2,800,000 |  | ¥ 20.0 | $ 2,800,000 | ¥ 20.0 |  |  |
At Market Offering |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Deferred offering costs | 700,000 |  | 700,000 |  |  |  |  |  |  |
2022 Sales Agreement |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Deferred offering costs | 700,000 |  | $ 700,000 |  |  |  |  |  |  |
2022 Sales Agreement | At Market Offering |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Common stock, value, issued |  |  |  |  |  |  |  |  |  | $ 150,000,000
Bill-and-hold arrangements |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Total revenue, net | $ 0.0 | $ 1,000,000 |  |  |  |  |  |  |  |
Minimum |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Trade accounts receivable |  |  | 30 days |  |  |  |  |  |  |
Delivery and payment terms | 30 days |  | 30 days |  | 30 days |  |  |  |  |
Service contracts terms |  |  | 1 year |  |  |  |  |  |  |
Supplier finance program, payment timing, period | 30 days |  | 30 days |  | 30 days |  |  |  |  |
Maximum |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Trade accounts receivable |  |  | 45 days |  |  |  |  |  |  |
Delivery and payment terms | 45 days |  | 45 days |  | 45 days |  |  |  |  |
Service contracts terms |  |  | 3 years |  |  |  |  |  |  |
Supplier finance program, payment timing, period | 90 days |  | 90 days |  | 90 days |  |  |  |  |
Maximum | 2022 Sales Agreement |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Aggregate compensation payable percentage |  |  |  |  |  |  |  |  |  | 0.03
Maximum | 2022 Sales Agreement | At Market Offering |  |  |  |  |  |  |  |  |  |
Accounting Policies [Line Items] |  |  |  |  |  |  |  |  |  |
Aggregate compensation payable percentage |  |  |  |  |  |  |  |  |  | 0.03

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