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Commitments and Contingencies (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Product Warranty        
Period of warranty     12 months  
Change in warranty accrual        
Beginning accrued product warranty $ 915 $ 832 $ 669 $ 743
Accruals for warranties issued 114 191 658 747
Adjustments related to pre-existing warranties including expirations and changes in estimates (64) (76) (39) (189)
Cost of warranty repair (113) (108) (436) (462)
Ending accrued product warranty 852 $ 839 $ 852 $ 839
Cross License Agreement        
Preferred label sub abstract as Contractual Obligations        
Term of agreement     10 years  
Dingxing        
Preferred label sub abstract as Contractual Obligations        
Total investment agreement value 90,000   $ 90,000  
Kazuo        
Preferred label sub abstract as Contractual Obligations        
Total investment agreement value 15,000   15,000  
Kazuo | Beijing BoYu Semiconductor Vessel Craftwork Technology Co        
Preferred label sub abstract as Contractual Obligations        
Total investment agreement value $ 8,000   $ 8,000