Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Jan. 01, 2021
Significant Accounting Policies [Line Items]
Inventory excess and obsolescence charges, unfavorable impact on gross margin percentage		1.50%	2.20%
Amortization expense associated with cloud computing arrangements	$ 413,000	$ 215,000
Sales commissions maximum amortization period	1 year
Sales contracts with original expected length	one year or less
Cumulative ownership change percentage	50.00%
Cumulative change in ownership period	3 years
Investment impairment charges	$ 0	0	$ 0
Long-term debt	280,244,000	278,661,000
Additional paid in capital	(403,599,000)	(351,422,000)
Accumulated deficit	$ 386,785,000	362,484,000
ASU 2020-06
Significant Accounting Policies [Line Items]
Change in accounting principle, accounting standards update, adopted	true
Change in accounting principle, accounting standards update, adoption date	Jan. 01, 2021
Change in accounting principle, accounting standards update, immaterial effect	false
ASU 2020-06 | Change in Accounting Method Accounted for as Change in Estimate | Revision of Prior Period, Accounting Standards Update, Adjustment
Significant Accounting Policies [Line Items]
Long-term debt				$ 29,300,000
Additional paid in capital				32,700,000
Accumulated deficit				$ 3,400,000
Maximum
Significant Accounting Policies [Line Items]
Expected revenue recognition term	1 year
Extended warranty and enhanced maintenance term	3 years
Payment Terms	120 days
Product warranty coverage period	1 year
Lease expiration year	2029
Minimum
Significant Accounting Policies [Line Items]
Extended warranty and enhanced maintenance term	1 year
Payment Terms	30 days
Product warranty coverage period	90 days
Lease expiration year	2023
Prepaid Expenses and Other Current Assets
Significant Accounting Policies [Line Items]
Cloud computing arrangement costs	$ 413,000	413,000
Other Non-current Assets
Significant Accounting Policies [Line Items]
Cloud computing arrangement costs	$ 1,800,000	$ 2,300,000
2021 Convertible Senior Notes due 2027
Significant Accounting Policies [Line Items]
Debt instrument, maturity year	2027