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Quarterly Financial Data (Unaudited) (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2022
Dec. 31, 2021
Quarterly Financial Information Disclosure [Abstract]                    
Revenue, net $ 16,888 $ 17,552 $ 19,078 $ 16,628 $ 16,586 $ 15,196 $ 14,050 $ 9,270 $ 70,146 $ 55,102
Gross profit 8,974 8,796 9,348 8,763 8,873 7,985 7,110 3,725 35,881 27,693
Loss from operations (3,008) (4,731) (5,197) (3,881) (3,727) (3,904) (4,457) (7,914) (16,817) (20,002)
Loss before income taxes (2,736) (4,566) (5,096) (3,719) (3,562) (3,850) (4,275) (7,858) (16,117) (19,545)
Net loss $ (1,934) $ (4,496) $ (5,008) $ (4,592) $ (3,291) $ (4,073) $ (4,382) $ (8,075) $ (16,030) $ (19,821)
Net loss per share:                    
Basic (in dollars per share) $ (0.04) $ (0.08) $ (0.09) $ (0.09) $ (0.06) $ (0.08) $ (0.08) $ (0.16) $ (0.30) $ (0.38)
Diluted (in dollars per share) $ (0.04) $ (0.08) $ (0.09) $ (0.09) $ (0.06) $ (0.08) $ (0.08) $ (0.16) $ (0.30) $ (0.38)