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Accrued Expenses (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accrued Expenses      
In-transit inventory $ 3,228 $ 416  
Warranty 2,005 1,851 $ 1,606
Travel 1,121 661  
Legal and consulting 730 1,371  
Clinical studies 276 113  
Sales and use tax 147 106  
Other 1,733 744  
Total $ 9,240 $ 5,262