Collaboration and Licensing Revenue - Summary of Deferred Revenue (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 2,295	$ 2,327
Current portion of deferred revenue	407	509
Long-term portion of deferred revenue	1,888	1,818
Prepaid product and service revenues
Deferred Revenue Arrangement [Line Items]
Deferred revenue	15	15
Other
Deferred Revenue Arrangement [Line Items]
Deferred revenue	462	494
Collaboration and licensing revenues
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 1,818	$ 1,818