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Income Taxes - Significant components of deferred tax assets and liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets    
Net operating loss carryforwards $ 79,078 $ 78,583
Capitalized costs 5,409 3,095
Accruals and reserves 4,610 4,830
Inventory reserves 267 402
Stock compensation 382 368
Loss on unrealized currency translation 166 160
Research and development credits 2,490 2,490
Financial guarantee liabilities 5,410 5,320
Lease liability 197 4
Provision for credit losses 368 119
Gross deferred tax assets 98,377 95,371
Valuation allowance (97,628) (94,446)
Net deferred tax assets 749 925
Deferred tax liabilities    
Revaluation of convertible promissory notes (448) (742)
Contract assets (3) (8)
ROU assets (298) (175)
Gross deferred tax liabilities (749) (925)
Increase in valuation allowance $ 3,200 $ 3,200