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Leases - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2021
Lessee, Lease, Description [Line Items]          
Operating lease expense $ 422 $ 537 $ 874 $ 1,081  
Short-term lease costs 15 43 40 98  
Net investment in lease, current 4,145   4,145    
Net investment in lease, noncurrent 4,584   4,584    
Sales-type lease, interest income 174 $ 193 342 $ 400  
Lessor, operating lease, term of contract         3 years
Lessor, operating lease, gross costs 1,880   1,880    
Lessor, operating lease, accumulated depreciation 704   $ 704    
Lessor, operating lease, useful life     5 years    
Depreciation expense 94   $ 188    
Lease revenue $ 139   $ 277    
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration]     Total net sales    
Minimum          
Lessee, Lease, Description [Line Items]          
Sales-type leases, term of contracts 3 years   3 years    
Maximum          
Lessee, Lease, Description [Line Items]          
Sales-type leases, term of contracts 5 years   5 years