Collaboration and Licensing Revenue - Summary of Deferred Revenue (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 1,843	$ 24,513
Current portion of deferred revenue	25	1,490
Long-term portion of deferred revenue	1,818	23,023
Prepaid product and service revenues
Deferred Revenue Arrangement [Line Items]
Deferred revenue	15	1,277
Other
Deferred Revenue Arrangement [Line Items]
Deferred revenue	10	213
Collaboration and licensing agreements
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 1,818	$ 23,023