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Nature of Business and Significant Accounting Policies - Narrative (Details) |  | 12 Months Ended |
--- | --- | --- | ---
Jul. 30, 2021 USD ($) | Dec. 31, 2022 USD ($) segment | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($)
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Number of reportable segments | segment |  | 1 |  |  |
Pre-tax gain | $ 5,300,000 |  |  |  |
Total consideration recognized | 31,500,000 |  |  |  |
Cash deconsolidated as part of sale | $ 5,000,000 | $ 5,000,000 |  |  |
Cash, cash equivalents and restricted cash |  | 7,143,000 | $ 49,812,000 | $ 40,015,000 | $ 12,074,000
Working capital |  | 21,400,000 |  |  |
Remaining capacity |  | 6,100,000 |  |  |
Shares available for issuance amount |  | 9,500,000 |  |  |
Contract liabilities |  |  | 3,832,000 |  |
Accounts receivable, net |  | 25,259,000 | 26,781,000 |  |
Allowance on accounts receivable |  | 541,000 | 408,000 |  |
Impairment of capitalized software |  | 3,014,000 | 1,197,000 | 1,410,000 |
Impairment of indefinite-lived intangible assets |  | 0 | 0 | 0 |
Impairment of long-lived assets |  | 0 | 0 | $ 0 |
Accounts Payable and Accrued Liabilities |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Contract liabilities |  | 5,100,000 | 3,800,000 |  |
Other Noncurrent Liabilities |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Contract liabilities |  | $ 600,000 | $ 100,000 |  |
Minimum |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
General warranty period |  | 12 months |  |  |
Maximum |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
General warranty period |  | 36 months |  |  |
Buildings |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Property, plant and equipment useful lives |  | 50 years |  |  |
Leasehold improvements | Maximum |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Property, plant and equipment useful lives |  | 5 years |  |  |
Product tooling |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Property, plant and equipment useful lives |  | 13 months |  |  |
Computer equipment, purchased software, vehicles, production equipment, and furniture and fixtures | Minimum |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Property, plant and equipment useful lives |  | 2 years |  |  |
Computer equipment, purchased software, vehicles, production equipment, and furniture and fixtures | Maximum |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Property, plant and equipment useful lives |  | 7 years |  |  |
Rental assets | Minimum |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Property, plant and equipment useful lives |  | 3 years |  |  |
Rental assets | Maximum |  |  |  |  |
Nature Of Business And Significant Accounting Policies [Line Items] |  |  |  |  |
Property, plant and equipment useful lives |  | 4 years |  |  |

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