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Stockholders' Equity - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Stock-based compensation expense | $ 3,424 | $ 4,109
Cost of product sales |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Stock-based compensation expense | 415 | 271
Cost of service sales |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Stock-based compensation expense | 11 | 10
Research and development |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Stock-based compensation expense | 837 | 644
Sales, marketing and support |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Stock-based compensation expense | 362 | 898
General and administrative |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Stock-based compensation expense | $ 1,799 | $ 2,286

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