Summary of Significant Accounting Policies - Reconciliation of Changes in Deferred Revenue (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Dec. 31, 2022	[1]
Reconciliation of the changes in the Company's deferred revenue balance
Balance, beginning of period	$ 14,153	$ 13,285
Additions to deferral	938	3,656
Revenue recognized	(2,380)	(2,338)
Balance, end of period	12,711	14,603
Non-current portion of deferred revenue	10,472	12,172	$ 11,742
Current portion of deferred revenue	$ 2,239	$ 2,431	$ 2,411

[1] Derived from the audited consolidated financial statements included in the Annual Report on Form 10-K filed with the SEC for the year ended December 31, 2022.