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Composition of Certain Financial Statement Items - Schedule of Property and Equipment (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross $ 35,022 $ 33,812
Less: accumulated depreciation and amortization (29,331) (27,450)
Total property and equipment, net 5,691 6,362
Machinery and equipment    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 2,622 2,373
Software and software development    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 2,395 2,396
Furniture and fixtures    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 1,732 1,713
Tooling    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 10,488 9,901
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 2,030 2,050
Demonstration units and convention booths    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross $ 15,755 $ 15,379