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Stock Based Compensation - Schedule Of Stock Based Compensation Expenses (Details) - USD ($) $ in Thousands		3 Months Ended		9 Months Ended
		Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Share-based payment arrangement, expense		$ 523	$ 1,120	$ 2,472	$ 3,575
Cost of goods sold
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Share-based payment arrangement, expense		29	36	73	71
Research and development
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Share-based payment arrangement, expense		230	255	747	800
Sales and marketing
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Share-based payment arrangement, expense	[1]	(223)	273	53	856
General and administrative
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Share-based payment arrangement, expense		$ 487	$ 556	$ 1,599	$ 1,848
[1] In the quarter ending September 30, 2023, the company recorded $0.2 million stock based compensation expense reversals that were non-vested and previously recognized expense in the sales and marketing department due to terminations

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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