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Leases - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2021
Lessee, Lease, Description [Line Items]          
Operating lease expense $ 417 $ 507 $ 1,291 $ 1,588  
Short-term lease costs 15 41 55 139  
Net investment in lease, current 3,739   3,739    
Net investment in lease, noncurrent 3,984   3,984    
Sales-type lease, interest income 159 $ 191 501 $ 591  
Lessor, operating lease, term of contract         3 years
Lessor, operating lease, gross costs 1,880   1,880    
Lessor, operating lease, accumulated depreciation 798   $ 798    
Lessor, operating lease, useful life     5 years    
Depreciation expense 94   $ 282    
Lease revenue $ 138   $ 415    
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