Income Taxes - Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 7,020	$ 11,571
Employee benefits and stock-based compensation	18,028	11,470
Research and development costs	7,530	5,059
Intangible assets	1,770	2,544
Operating lease liabilities	11,846	12,822
Inventory reserve	2,780	2,833
Tax credit carryforward	11,143	10,498
Other, net	12	13
Total deferred tax assets	60,129	56,810
Less: valuation allowance	(47,290)	(43,947)
Total net deferred tax assets	12,839	12,863
Deferred tax liabilities:
Right-of-use assets	(10,891)	(12,266)
Property and equipment, net	(1,948)	(597)
Total net deferred tax liabilities	(12,839)	(12,863)
Net deferred tax assets and liabilities	$ 0	$ 0