Leases - Narrative (Details) $ in Thousands	1 Months Ended	12 Months Ended
	Oct. 31, 2016 ft²	Dec. 31, 2023 USD ($) ft²	Dec. 31, 2016 ft²
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Security deposit - letter of credit		$ 12
19 Presidential Way, Woburn, Massachusetts
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Leased area (in sqft) | ft²			22,213
Security deposit - letter of credit		$ 229
410 Downey Road and 110 Gymnasium Place
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Leased area (in sqft) | ft²		9,600
CJ CheilJedang Corporation
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Security deposit - letter of credit		$ 103
Subleased area (in sqft) | ft²	9,874
Undiscounted future lease payments		$ 2,458