Income Taxes - Components of Net Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets, non-current
Provision for credit losses on accounts receivable	$ 1,500	$ 1,073
Depreciation	401	445
Accrued expenses	6,324	5,288
Deferred revenue	2,681	2,274
Operating lease liabilities	8,107	9,757
Stock-based compensation	21,040	22,191
Acquisition costs	2,107	2,363
Inventory reserve	529	654
Net operating losses	2,600	3,492
Tax credits	3,535	3,085
Capitalized research and development expenditures	99,799	53,901
Other	2,873	786
Total deferred tax assets, non-current prior to valuation allowance	151,496	105,309
Valuation allowance	(3,754)	(2,591)
Total deferred tax assets, non-current, net of valuation allowance	147,742	102,718
Deferred tax liabilities, non-current
Intangible assets and prepaid patent licenses	(3,552)	(4,354)
Operating lease right-of-use assets	(5,983)	(7,134)
Depreciation	(4,267)	(5,828)
Sales commissions	(1,477)	(1,138)
Equity investments	(161)	(79)
Other deferred tax liabilities	(487)	0
Total deferred tax liabilities, non-current	(15,927)	(18,533)
Net deferred tax assets, non-current	$ 131,815	$ 84,185