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Income Taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes      
Current income taxes, Federal $ 5,045 $ 1,838 $ (1,274)
Current income taxes, State 1,440 637 214
Current income taxes 6,485 2,475 (1,060)
Deferred income taxes, Federal (19,046) (32) 7,874
Deferred income taxes, State (332)   2,356
Deferred income taxes (19,378) (32) 10,230
Unrecognized tax benefit 148 (50) 348
Total (benefit) provision for income taxes (12,745) 2,393 $ 9,518
Additional deferred taxes 19,400    
Components of Deferred Tax Assets      
Operating lease liability 5,394 5,945  
Net operating loss carryforwards 50 179  
Accounts receivable and inventory reserves 7,065 6,013  
Stock-based compensation 5,144 4,886  
Accrued liabilities 2,056 1,914  
Warranty reserves 1,025 1,071  
Intangible assets 1,645 2,947  
Business credits 630 536  
R&D expenses 2,189 1,103  
Other 309 183  
Total deferred tax assets 25,507 24,777  
Deferred tax liabilities:      
Right-of-use asset (4,799) (5,425)  
Fixed assets (975) (1,080)  
Prepaid expenses (232) (251)  
Other (123) (186)  
Total deferred tax liabilities (6,129) (6,942)  
Valuation allowance   $ (17,835)  
Net deferred tax assets $ 19,378    
Effective Income Tax Rate Reconciliation, Percent      
Tax expense at statutory rate 21.00% 21.00% 21.00%
State income taxes, net of federal benefit 5.20% 4.10% (1.10%)
Executive compensation 0.90%   (14.20%)
Meals and entertainment 2.10%    
Employee Stock Purchase Plan 0.90% (1.00%) (7.50%)
Federal business credits (1.50%) 1.60% 10.90%
Valuation allowance (113.30%) (37.40%) (525.00%)
Return to provision 0.50% (0.20%) (6.50%)
Research and development credits     60.20%
Deferred reprice - state 0.20% 0.90% 3.30%
Unrecognized tax benefits 0.30% (0.30%) (2.20%)
Excess benefit on non-qualified stock options and RSUs 2.30% (3.70%) 47.20%
Interest and penalties 0.10%   (0.70%)
162M write down 1.60%    
Other (1.10%) (0.50%) (0.50%)
Net effective rate (80.80%) (15.50%) (415.10%)
Reconciliation of unrecognized tax benefits      
Balance beginning of the year $ 612 $ 522  
Gross change - tax positions in prior year 90 90 $ 522
Balance end of the year 702 612 522
U.S. federal      
Income Taxes      
Unrecognized tax benefit 148 $ (50) $ 348
State      
Components of Deferred Tax Assets      
Net operating loss carryforwards $ 50,000