Summary of Significant Accounting Policies - Additional Information (Details)	12 Months Ended
	Dec. 31, 2022 USD ($) Segment Customer	Dec. 31, 2021 USD ($) Customer
Summary Of Significant Accounting Policies [Line Items]
Number of operating segments | Segment	1
Number of reportable segments | Segment	1
Long-lived assets in United States	92.00%	89.00%
Allowance for credit losses	$ 69,000	$ 110,000
Acquired intangible assets weighted average amortization period	15 years
Impairment of intangible assets	$ 0	0
Accounts receivables payment terms	30 days
Research and development expenses	$ 11,814,000	12,358,000
Operating lease right-of-use assets	2,630,000	3,151,000
Long-term operating lease liabilities	2,272,000	2,803,000
Research and Development Expenses
Summary Of Significant Accounting Policies [Line Items]
Inventory costs	$ 3,400,000	$ 3,700,000
Customer Concentration Risk | Revenue Benchmark
Summary Of Significant Accounting Policies [Line Items]
Number of customers | Customer	1	2
Customer Concentration Risk | Revenue Benchmark | Customer One
Summary Of Significant Accounting Policies [Line Items]
Concentration risk, percentage	10.00%	16.00%
Customer Concentration Risk | Revenue Benchmark | Customer Two
Summary Of Significant Accounting Policies [Line Items]
Concentration risk, percentage		13.00%
Customer Concentration Risk | Accounts Receivable
Summary Of Significant Accounting Policies [Line Items]
Number of customers | Customer	0	3
Customer Concentration Risk | Accounts Receivable | Customer
Summary Of Significant Accounting Policies [Line Items]
Concentration risk, percentage	10.00%
Customer Concentration Risk | Accounts Receivable | Customer One
Summary Of Significant Accounting Policies [Line Items]
Concentration risk, percentage		37.00%
Customer Concentration Risk | Accounts Receivable | Customer Two
Summary Of Significant Accounting Policies [Line Items]
Concentration risk, percentage		13.00%
Customer Concentration Risk | Accounts Receivable | Customer Three
Summary Of Significant Accounting Policies [Line Items]
Concentration risk, percentage		10.00%
Shipping and Handling
Summary Of Significant Accounting Policies [Line Items]
Cost of revenue	$ 157,000	$ 245,000
Minimum
Summary Of Significant Accounting Policies [Line Items]
Operating leases, estimated useful life	5 years
Maximum
Summary Of Significant Accounting Policies [Line Items]
Operating leases, estimated useful life	10 years
Maximum | Accounting Standards Update 2016-02
Summary Of Significant Accounting Policies [Line Items]
Operating leases, estimated useful life	12 months
Acquired Product Rights and Technology | Minimum
Summary Of Significant Accounting Policies [Line Items]
Acquired intangible assets weighted average amortization period	15 years
Acquired Product Rights and Technology | Maximum
Summary Of Significant Accounting Policies [Line Items]
Acquired intangible assets weighted average amortization period	20 years
Customer Relationships
Summary Of Significant Accounting Policies [Line Items]
Acquired intangible assets weighted average amortization period	10 years
Customer Relationships | Maximum
Summary Of Significant Accounting Policies [Line Items]
Intangible assets estimated useful life	20 years