Inventories - Reserve Rollforward (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Inventory, Reserve [Roll Forward]
Beginning balance	$ (2,400)	$ (2,792)	$ (2,527)	$ (3,050)
Accrual	(169)	(241)	(155)	(442)
Reduction due to sold inventory	109	21	222	278
Write-off for disposed inventory	0	353	0	555
Reserves for excess, obsolete, and slow-moving inventories	$ (2,460)	$ (2,659)	$ (2,460)	$ (2,659)