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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