Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred Tax Assets:
Allowance for doubtful accounts	$ 4	$ 4
Employee benefits	2,789	2,254
Intangible assets	1,614	1,573
Inventories	1,434	2,846
Lease liability	1,977	2,227
Net operating loss	8,372	7,354
Research and development expenses	6,154	3,835
Sales reserves	1,524	1,501
Unrecognized tax benefits	311	470
Other	1,376	852
Total deferred tax assets	21,635	18,741
Deferred Tax Liabilities:
Fixed assets	(764)	(897)
Goodwill	(1,402)	(1,268)
Right of use asset	(1,754)	(2,010)
Valuation allowance	(22,094)	(19,244)
Net deferred tax assets (liabilities)	$ (459)	$ (503)