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Stock Based Compensation - Schedule of Recognized Stock Compensation for Equity Awards (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock based compensation | $ 183 | $ 752 | $ 755 | $ 1,529
Selling, General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock based compensation | 115 | 676 | 625 | 1,381
Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock based compensation | 61 | 68 | 118 | 134
Cost of Goods Sold |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock based compensation | $ 7 | $ 8 | $ 12 | $ 14

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