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Stock-Based Compensation - Summary of Total Stock-Based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2024 | Mar. 31, 2023
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | $ 652 | $ 1,726
Sales | Product |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | 2 |
Cost of Sales | Product |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | 51 | 83
Cost of Sales | Service |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | 29 | 46
Selling, General and Administrative Expenses |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | 484 | 1,426
Research and Development Expense |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | $ 86 | $ 171

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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