Schedule of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Components of Deferred Tax Assets [Abstract]
Reserves	$ 651	$ 634
Net operating loss carryforwards	92,469	90,593
R&D credit carryforwards	9,628	8,984
Depreciation/amortization deferred	19,787	17,417
Other	7,360	6,701
Total deferred tax assets	133,187	125,551
Operating Lease Liabilities	3,292	1,222
Components of Deferred Tax Liabilities [Abstract]
Operating lease right-of-use assets	(3,062)	(1,171)
Total deferred tax liabilities	(3,062)	(1,171)
Net valuation allowances	(130,125)	(124,380)
Deferred tax assets	$ 0	$ 0