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Principles of Consolidation (Tables)
 9 Months Ended
Sep. 30, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]  
Share-Based Payment Arrangement, Expensed and Capitalized, Amount The following table summarizes total stock-based compensation expense for each of the line items on our condensed consolidated statement of operations:
Three Months EndedNine Months Ended
September 30, 2021September 30, 2020September 30, 2021September 30, 2020
Cost of Sales
Product$147 $39 $435 $234 
Service43 88 35 257 
Total cost of sales$190 $127 $470 $491 
Operating Expenses
Selling, general and administrative$2,581 $1,527 $6,789 $4,666 
Research and development509 430 1,398 1,271 
Total operating expenses$3,090 $1,957 $8,187 $5,937