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Leases - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2021
Lessee, Lease, Description [Line Items]          
Operating lease expense $ 366 $ 422 $ 719 $ 874  
Short-term lease costs 20 15 39 40  
Net investment in lease, current 3,326   3,326    
Net investment in lease, noncurrent 2,995   2,995    
Sales-type lease, interest income 117 $ 174 246 $ 342  
Lessor, operating lease, term of contract         3 years
Lessor, operating lease, gross costs 1,861   1,861    
Lessor, operating lease, accumulated depreciation 1,080   $ 1,080    
Lessor, operating lease, useful life     5 years    
Depreciation expense 94   $ 188    
Lease revenue $ 91   $ 217    
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration] Revenue from Contract with Customer, Excluding Assessed Tax   Revenue from Contract with Customer, Excluding Assessed Tax    
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