Income Taxes - Schedule of Significant Components of the Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 18,067	$ 25,541
Capital loss carryforwards	195	194
Research and development credits	6,167	5,565
Other state credits	2,244	3,671
Inventory	2,569	2,407
Allowances and bad debts	1,646	1,195
Accrued warranty	5,165	6,048
Accrued wages and benefits	353	1,294
Other accrued expenses	6,505	5,749
Stock-based compensation	240	188
Capitalized research and development costs	8,078	4,658
163(j) disallowed interest	2,868	1,343
Contract liabilities	698	1,057
Operating lease liability	7,917	2,820
Other	804	1,685
Total deferred tax assets	63,516	63,415
Valuation allowance	(54,314)	(59,680)
Total deferred tax assets, net of valuation allowance	9,202	3,735
Deferred tax liabilities:
ROU operating lease asset	(7,274)	(2,612)
Intangible amortization	(1,006)	(110)
Depreciation on property, plant and equipment	(2,400)	(2,291)
Total deferred tax liabilities	(10,680)	(5,013)
Net deferred tax liability	$ (1,478)	$ (1,278)