Income Taxes - Temporary Differences (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 41,454	$ 42,716
Inventory write-down	347	503
Allowance for doubtful accounts	87	169
Lease obligations	5,867	5,643
Stock-based compensation	6,084	5,274
Capitalized research and development costs	11,530	6,357
Debt derivative liability	772	1,174
Charitable contributions	3	203
Accrued compensation	56	1,010
Total deferred tax assets	66,200	63,049
Deferred tax liabilities:
Depreciation	(978)	(983)
Amortization	(51)	(17)
Right-of-use assets	(4,031)	(3,744)
Contract liabilities	0
Contract liabilities		4
Total deferred tax liabilities	(5,060)	(4,740)
Net deferred tax assets	61,140	58,309
Valuation allowance	$ (61,140)	$ (58,309)