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Nature of Business and Significant Accounting Policies - Narrative (Details)
 3 Months Ended 12 Months Ended
Jan. 24, 2024
shares
Dec. 31, 2023
USD ($)
reportingUnit
Dec. 31, 2023
USD ($)
segment
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Nature Of Business And Significant Accounting Policies [Line Items]          
Number of operating segments | segment     2    
Number of reportable segments | segment     1    
Cash and cash equivalents   $ 7,519,000 $ 7,519,000 $ 7,143,000  
Cash equivalents   0 0 0  
Restricted cash   0 $ 0 0  
General warranty period     12 months    
Contract liabilities   5,583,000 $ 5,583,000 5,060,000  
Accounts receivable, net   22,616,000 22,616,000 25,259,000  
Allowance on accounts receivable   $ 1,113,000 1,113,000 541,000  
Impairment of indefinite-lived intangible assets     0 0  
Number of reporting units | reportingUnit   2      
Goodwill, impairment loss     0 0  
Impairment of long-lived assets     $ 0 0 $ 0
Short term lease term   12 months 12 months    
Percentage of employees contribution matched by employer     50.00%    
Percentage of employees gross pay eligible for employer match     6.00%    
Employer matching contributions     $ 700,000 900,000  
2025 Notes | Convertible debt          
Nature Of Business And Significant Accounting Policies [Line Items]          
Debt   $ 161,898,000 161,898,000 161,898,000  
Other Noncurrent Liabilities          
Nature Of Business And Significant Accounting Policies [Line Items]          
Contract liabilities   1,700,000 1,700,000 600,000  
Accounts Payable and Accrued Liabilities          
Nature Of Business And Significant Accounting Policies [Line Items]          
Contract liabilities   5,600,000 5,600,000 5,100,000  
Sales and marketing          
Nature Of Business And Significant Accounting Policies [Line Items]          
Shipping and handling charges     1,000,000 $ 2,300,000  
Revolving Credit Facility          
Nature Of Business And Significant Accounting Policies [Line Items]          
Cash and cash equivalents   7,500,000 7,500,000    
Working capital   2,300,000 2,300,000    
Remaining capacity   $ 3,200,000 $ 3,200,000    
Subsequent event          
Nature Of Business And Significant Accounting Policies [Line Items]          
Stock split, conversion ratio 0.1        
Fractional shares issued (in shares) | shares 0        
Minimum          
Nature Of Business And Significant Accounting Policies [Line Items]          
General warranty period     12 months    
Subscription term     1 year    
Useful life   2 years 2 years    
Maximum          
Nature Of Business And Significant Accounting Policies [Line Items]          
General warranty period     36 months    
Subscription term     3 years    
Useful life   10 years 10 years    
Buildings          
Nature Of Business And Significant Accounting Policies [Line Items]          
Property, plant and equipment useful lives   50 years 50 years    
Leasehold improvements | Maximum          
Nature Of Business And Significant Accounting Policies [Line Items]          
Property, plant and equipment useful lives   5 years 5 years    
Product tooling          
Nature Of Business And Significant Accounting Policies [Line Items]          
Property, plant and equipment useful lives   13 months 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 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 7 years    
Rental assets | Minimum          
Nature Of Business And Significant Accounting Policies [Line Items]          
Property, plant and equipment useful lives   3 years 3 years    
Rental assets | Maximum          
Nature Of Business And Significant Accounting Policies [Line Items]          
Property, plant and equipment useful lives   4 years 4 years