Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 45,314	$ 41,453
Intangible assets	3,501	4,066
Tax credit carryforwards	3,923	4,011
Goodwill	4,513	4,920
Property and equipment	3,314	3,644
Lease liability	2,507	2,634
Inventory valuation reserves	1,359	2,033
Allowance for doubtful accounts	1,196	1,180
Accrued liabilities	383	320
Accrued compensation	485	491
Equity compensation	132	536
Interest limitation	137	1,616
Other	24	230
Total gross deferred tax assets	66,788	67,134
Valuation allowance	(59,066)	(64,960)
Total deferred tax assets, net	7,722	2,174
Deferred tax liabilities:
ROU asset	(1,203)	(1,377)
Contract asset	(5,813)	0
Prepaid insurance and other	(406)	(393)
Total gross deferred tax liabilities	(7,422)	(1,770)
Net deferred tax assets	$ 300	$ 404