Accrued Expenses and Other Current Liabilities - Warranty Expense Activity (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accrued Expenses and Other Current Liabilities
Balance, beginning of period	$ 873	$ 1,116	$ 1,826
Warranty provision charged to operations	276	296	58
Warranty claims	(452)	(539)	(768)
Balance, end of period	$ 697	$ 873	$ 1,116