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Property and Equipment (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Property and Equipment      
Subtotal $ 14,778 $ 16,862  
Less: accumulated depreciation (8,583) (10,785)  
Property and equipment, net 6,195 6,077  
Depreciation expense 2,700 2,500 $ 2,300
Equipment      
Property and Equipment      
Subtotal 4,459 8,274  
Tooling      
Property and Equipment      
Subtotal 4,555 3,390  
Furniture and Fixtures      
Property and Equipment      
Subtotal 2,068 2,087  
Leasehold improvements      
Property and Equipment      
Subtotal 1,529 1,493  
Demonstration equipment      
Property and Equipment      
Subtotal 896 1,012  
Construction in progress      
Property and Equipment      
Subtotal $ 1,271 $ 606