Summary of Significant Accounting Policies - Patents, Licenses, and Other Intangible Assets (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) criteria	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Patents, licenses, and other intangible assets
Number of primary criteria to determine capitalization of patent | criteria	3
Abandonment of capitalized intangible assets	$ 1,510	$ 934	$ 535
Total gross carrying amount	28,170	24,925
Total intangible assets, net	18,500	16,493
Amortization expense for patents, licenses, and other intangible assets	1,400	1,200	$ 1,100
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract]
2023	1,165
2024	1,123
2025	1,110
2026	1,097
2027	1,096
Thereafter	3,181
Total	8,772
Nonamortizable intangible assets (trademarks)
Patents, licenses, and other intangible assets
Nonamortizable intangible assets (trademarks)	$ 399	399
Licensing Agreements | Minimum
Patents, licenses, and other intangible assets
Estimated economic life	1 year
Licensing Agreements | Maximum
Patents, licenses, and other intangible assets
Estimated economic life	18 years
Patents
Patents, licenses, and other intangible assets
Accumulated amortization	$ (7,781)	(6,800)
Patents | Minimum
Patents, licenses, and other intangible assets
Estimated economic life	3 years
Patents | Maximum
Patents, licenses, and other intangible assets
Estimated economic life	27 years
Patents, definite life
Patents, licenses, and other intangible assets
Amortizable intangible assets	$ 14,535	13,231
Patents, pending issuance
Patents, licenses, and other intangible assets
Amortizable intangible assets	9,328	8,821
Licenses and other amortizable intangible assets
Patents, licenses, and other intangible assets
Amortizable intangible assets	3,908	2,474
Accumulated amortization	$ (1,889)	$ (1,632)