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Revenue and Deferred Revenue - Revenue by product line and timing of recognition (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Revenue and Deferred Revenue    
Total revenue, net $ 2,254 $ 2,897
ASRs    
Revenue and Deferred Revenue    
Total revenue, net 990 1,022
ECDs    
Revenue and Deferred Revenue    
Total revenue, net 1,264 1,875
Point in time    
Revenue and Deferred Revenue    
Total revenue, net 1,251 1,807
Point in time | ASRs    
Revenue and Deferred Revenue    
Total revenue, net 25 20
Point in time | ECDs    
Revenue and Deferred Revenue    
Total revenue, net 1,226 1,787
Transferred over time    
Revenue and Deferred Revenue    
Total revenue, net 1,003 1,090
Transferred over time | ASRs    
Revenue and Deferred Revenue    
Total revenue, net 965 1,002
Transferred over time | ECDs    
Revenue and Deferred Revenue    
Total revenue, net $ 38 $ 88