Leases - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Lease expense	$ 1,702	$ 2,103
Short-term operating lease costs	130	182
Net investment in lease, current	3,654
Net investment in lease, noncurrent	3,617
Interest income	644	764
Lease term			3 years
Operating lease asset	1,880
Lease, accumulated depreciation	892
Operating lease depreciation	$ 376	360
Useful life	5 years
Lease revenue	$ 553	$ 537
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration]	Net sales
Minimum
Lessee, Lease, Description [Line Items]
Sales-type leases, term of contracts	3 years
Maximum
Lessee, Lease, Description [Line Items]
Sales-type leases, term of contracts	5 years