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Summary of Significant Accounting Policies - Other Narrative (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |
Design and development | $ 71,075,000 | $ 65,296,000 | $ 66,165,000
Percentage of net sales | 7.30% | 7.30% | 8.60%
Research and development expense reimbursed | $ 18,809,000 | $ 23,784,000 | $ 15,849,000
Share-based compensation expense | 3,322,000 | 5,942,000 | 5,960,000
Share-based compensation expense capitalized as inventory | $ 0 | $ 0 | 0
Potential dilutive shares (in shares) | 227,741 | 232,458 |
Deferred financing cost amortization and debt discount accretion | $ 1,190,000 | $ 1,051,000 | $ 643,000
Deferred financing costs, net | 2,057,000 | 996,000 |
Credit Facility |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |
Capitalized deferred financing costs |  | 484,000 |
Credit Facility | Credit Facility |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |
Write off of deferred financing costs | 309,000 | $ 365,000 |
Fourth Amendment |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |
Capitalized deferred financing costs | 332,000 |  |
Fifth Amendment |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |
Capitalized deferred financing costs | $ 1,915,000 |  |
Performance Based Right to Receive Common Shares |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |
Common shares, non-vested | 418,834 | 767,593 | 580,116
Selling, general and administrative |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |
Share-based compensation expense | $ 3,322,000 | $ 5,942,000 | $ 5,960,000

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