Intangible Assets - Schedule of Intangible Assets (Details) - USD ($) $ in Thousands |
Mar. 31, 2024 |
Dec. 31, 2023 |
|---|---|---|
| Finite-Lived Intangible Assets [Line Items] | ||
| Gross Carrying Value | $ 19,859 | $ 19,846 |
| Accumulated Amortization | (15,099) | (14,869) |
| Net Carrying Amount | 4,760 | 4,977 |
| Patents | ||
| Finite-Lived Intangible Assets [Line Items] | ||
| Gross Carrying Value | 1,860 | 1,847 |
| Accumulated Amortization | (1,307) | (1,297) |
| Net Carrying Amount | 553 | 550 |
| Acquired intellectual property and reacquired rights | ||
| Finite-Lived Intangible Assets [Line Items] | ||
| Gross Carrying Value | 15,126 | 15,126 |
| Accumulated Amortization | (10,937) | (10,737) |
| Net Carrying Amount | 4,189 | 4,389 |
| Internal-use software implementation costs | ||
| Finite-Lived Intangible Assets [Line Items] | ||
| Gross Carrying Value | 2,873 | 2,873 |
| Accumulated Amortization | (2,855) | (2,835) |
| Net Carrying Amount | $ 18 | $ 38 |