Property and Equipment, Net - Depreciation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Depreciation	$ 3,345	$ 4,363	$ 5,782
Cost of sales
Property, Plant and Equipment [Line Items]
Depreciation	1,816	1,787	2,022
Selling, general, and administrative expense
Property, Plant and Equipment [Line Items]
Depreciation	1,243	2,278	3,416
Research and development expense
Property, Plant and Equipment [Line Items]
Depreciation	$ 286	$ 298	$ 344