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Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Property and Equipment, Net    
Total property and equipment $ 28,911 $ 24,662
Accumulated depreciation and amortization (20,157) (16,849)
Property and equipment, net 8,754 7,813
Machinery and Equipment    
Property and Equipment, Net    
Total property and equipment 12,944 11,876
Computer Equipment and Software    
Property and Equipment, Net    
Total property and equipment 3,183 3,033
Furniture and Fixtures    
Property and Equipment, Net    
Total property and equipment 1,258 1,129
Leasehold Improvements    
Property and Equipment, Net    
Total property and equipment 6,198 5,942
Finance lease right of use assets    
Property and Equipment, Net    
Total property and equipment 4,632 2,294
Construction in Progress    
Property and Equipment, Net    
Total property and equipment $ 696 $ 388