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Leases - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2021
Lessee, Lease, Description [Line Items]          
Operating lease expense $ 376 $ 417 $ 1,095 $ 1,291  
Short-term lease costs 20 15 59 55  
Net investment in lease, current 3,011   3,011    
Net investment in lease, noncurrent 2,913   2,913    
Sales-type lease, interest income 108 $ 159 354 $ 501  
Lessor, operating lease, term of contract         3 years
Lessor, operating lease, gross costs 1,824   1,824    
Lessor, operating lease, accumulated depreciation 1,174   $ 1,174    
Lessor, operating lease, useful life     5 years    
Depreciation expense 95   $ 282    
Lease revenue $ 79   $ 295    
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