Consolidated Statements of Cash Flows - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash flows from operating activities:
Net loss	$ (41,670)	$ (54,579)	$ (29,669)
Adjustments to reconcile net loss to net cash provided by (used in) operating activities:
Depreciation	12,401	11,085	9,179
Amortization	3,629	4,614	5,880
Reduction in carrying amount of right-of-use assets	1,269	3,000	3,253
Provision for losses on accounts receivable	27	4	(70)
Stock-based compensation	25,832	26,757	37,720
Deferred income taxes	7	4	37
Loss on disposal of property, plant and equipment	542	51	16
Non-cash restructuring charges	0	2,758	0
Changes in operating assets and liabilities:
Accounts receivable, net	(1,677)	2,757	(9,509)
Inventory	14,890	4,623	(18,994)
Prepaid expenses and other current assets	1,109	(1,753)	(3,630)
Other assets, net	(1,156)	(5,219)	(570)
Accounts payable	(4,503)	(5,904)	3,463
Accrued and other long-term liabilities	(1,336)	(577)	(199)
Deferred revenues	3,432	(208)	(909)
Lease liabilities	(1,449)	(1,942)	(2,934)
Non-current income taxes payable	(1,256)	(13)	(507)
Net cash provided by (used in) operating activities	10,091	(14,542)	(7,443)
Cash flows from investing activities:
Acquisition of business, net of cash acquired	0	(664)	(291)
Purchases of property, plant and equipment	(5,339)	(21,388)	(19,317)
Acquisition of intangible assets and capitalization of patents	0	(332)	(2,245)
Purchase of marketable securities	(127,907)	(99,985)	0
Proceeds from maturities and sales of marketable securities	119,146	49,988	0
Net cash used in investing activities	(14,100)	(72,381)	(21,853)
Cash flows from financing activities:
Principal payments on term loan, debt and financing leases	0	0	(428)
Payment of contingent consideration related to acquisition	0	0	(326)
Proceeds from public offering, net of offering costs	0	0	82,354
Proceeds from employee stock plan purchases	2,469	2,358	1,603
Proceeds from stock option exercises	640	1,197	1,145
Tax payments related to stock award issuances	(3,968)	(4,861)	(10,606)
Net cash provided by (used in) financing activities	(859)	(1,306)	73,742
Effect of exchange rate changes on cash	256	(477)	(235)
Net increase (decrease) in cash, cash equivalents, and restricted cash	(4,612)	(88,706)	44,211
Cash, cash equivalents, and restricted cash, beginning of period	58,078	146,784	102,573
Cash, cash equivalents, and restricted cash, end of period	53,466	58,078	146,784
Supplemental disclosures:
Cash paid for interest	40	0	117
Cash paid for income taxes	256	442	526
Operating cash outflows from operating leases	3,850	3,925	3,513
Right-of-use assets obtained in exchange for lease liabilities	1,716	1,349	8,012
Accrued purchases of property, equipment and patents	$ 745	$ 207	$ 2,522