Other Income (expense), Net (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Other Income (expense), Net
Income from government grants	$ 400,000	$ 1,300,000	$ 1,400,000	$ 1,800,000
Foreign exchange gain (loss)	$ 42,000	$ 10,000	$ 100,000	$ (203,000)